ThreeTrackingWheelLocalizer

Localizer based on three unpowered tracking omni wheels.

wheelPoses

wheel poses relative to the center of the robot (positive X points forward on the robot)

Constructors

constructor(wheelPoses: List<Pose2d>)

open override var poseEstimate: Pose2d

Current robot pose estimate.

open override var poseVelocity: Pose2d?

Current robot pose velocity (optional)

Returns the positions of the tracking wheels in the desired distance units (not encoder counts!)

Returns the velocities of the tracking wheels in the desired distance units (not encoder counts!)

open override fun update()

Completes a single localization update.