TwoTrackingWheelLocalizer

Localizer based on two unpowered tracking omni wheels and an orientation sensor.

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)

abstract fun getHeading(): Angle

Returns the heading of the robot (usually from a gyroscope or IMU).

Returns the heading of the robot (usually from a gyroscope or IMU).

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.