MecanumLocalizer
class MecanumLocalizer @JvmOverloads constructor(val getWheelPositions: () -> List<Double>, val getWheelVelocities: () -> List<Double>? = { null }, trackWidth: Double, wheelBase: Double = trackWidth, lateralMultiplier: Double = 1.0) : DeadReckoningLocalizer
Default localizer for mecanum drives based on the drive encoders.
Parameters
getWheelPositions
wheel positions in linear distance units
getWheelVelocities
lateral distance between pairs of wheels on different sides of the robot
wheelBase
distance between pairs of wheels on the same side of the robot
lateralMultiplier
lateral multiplier