BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.localization.accumulators/Accumulator

Accumulator

open class Accumulator : Localizable

Accumulates pose estimates from a Localizer to expose Localizable properties.

Author

Lucas Bubner, 2024

Since

6.0.0

Inheritors

Constructors

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constructor(@NonNull initialPose: Pose2d)
Construct an Accumulator base.
constructor()
Create an Accumulator base with the last known robot position.

Properties

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open var MAX_POSE_HISTORY: Int
The maximum pose history length that should be stored in an accumulator.
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@NonNull
protected open var pose: Pose2d
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@get:NonNull
open val poseHistory: LinkedList<Pose2d>
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@NonNull
protected open var velocity: PoseVelocity2d

Functions

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open fun accumulate(@NonNull twist: Twist2dDual<Time>)
Run one accumulation of this accumulator to update the pose with this delta.
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fun copyTo(@NonNull other: Accumulator)
Copy the state of this accumulator to another accumulator.
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@NonNull
fun getPose(): Pose2d
Calculate the accumulated pose from an internal localizer.
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@NonNull
fun getVelocity(): PoseVelocity2d
Calculate the first derivative of the accumulated pose from an internal localizer.
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fun setPose(@NonNull newPose: Pose2d)
Reset the accumulated pose estimate to this pose.

Inherited functions

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open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)
Reset the accumulated pose estimate to this pose.