SwerveLocalizer

Default localizer for swerve drives based on the drive encoder positions and module orientations.

modules

the individual swerve modules

modulePositions

the positions of all the modules relative to the center of rotation of the robot

Constructors

constructor(modules: List<SwerveModule>, trackWidth: Double, wheelBase: Double = trackWidth)

Default localizer for swerve drives based on the drive encoder positions and module orientations.

constructor(modules: List<SwerveModule>, modulePositions: List<Vector2d>)

The last computed change in relative robot position.

open override var poseEstimate: Pose2d

Current robot pose estimate.

open override var poseVelocity: Pose2d?

Current robot pose velocity (optional)

open override fun update()

Completes a single localization update.