Package-level declarations
Algorithms for robot localization
Types
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A class describing an abstract angle measuring device. This includes the IMU in the Control/Expansion Hub as well as any other similar sensors.
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class HeadingLocalizer(headingSensor: AngleSensor, deadReckoningLocalizer: DeadReckoningLocalizer) : Localizer
A localizer that uses a DeadReckoningLocalizer with an added heading sensor to increase accuracy.
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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.
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class SwerveLocalizer(val modules: List<SwerveModule>, modulePositions: List<Vector2d>) : DeadReckoningLocalizer
Default localizer for swerve drives based on the drive encoder positions and module orientations.
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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.
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Localizer based on three unpowered tracking omni wheels.
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Localizer based on two unpowered tracking omni wheels and an orientation sensor.