TankLocalizer

class TankLocalizer @JvmOverloads constructor(val getWheelPositions: () -> List<Double>, val getWheelVelocities: () -> List<Double>? = { null }, trackWidth: Double) : DeadReckoningLocalizer

Default localizer for tank drives based on the drive encoders.

getWheelPositions

wheel positions in linear distance units

getWheelVelocities

lateral distance between pairs of wheels on different sides of the robot

Constructors

constructor(getWheelPositions: () -> List<Double>, getWheelVelocities: () -> List<Double>? = { null }, trackWidth: Double)

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.