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

AprilTagRelocalizingAccumulator

open class AprilTagRelocalizingAccumulator : Accumulator

Combines an AprilTag processor with an Accumulator to relocalize the robot. This serves as the modernised version of the previous AprilTagPoseEstimator.

Author

Lucas Bubner, 2024

Since

6.0.0

Constructors

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constructor(@NonNull processor: AprilTag)
Create a new AprilTag relocalizing accumulator.

Properties

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open var DEFAULT_Q: Double
Default Q gain for Kalman filtering.
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open var DEFAULT_R: Double
Default R gain for Kalman filtering.

Inherited 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 a standard accumulation while also relocalizing based on the presence of library AprilTags.
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@NonNull
open fun addDataFilter(@NonNull filter: Predicate<AprilTagData>): AprilTagRelocalizingAccumulator
Add a data filter that will apply to the detections of the processor whether to accept processing this tag.
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@NonNull
open fun setActive(setPoseAutomatically: Boolean): AprilTagRelocalizingAccumulator
Whether to set the drive pose to the vision estimate.
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@NonNull
open fun setHeadingEstimate(setHeadingAutomatically: Boolean): AprilTagRelocalizingAccumulator
Whether to set the drive pose to the vision estimate with heading information.
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@NonNull
open fun setKalmanGains(R: Double, Q: Double): AprilTagRelocalizingAccumulator
Set the gains used in the Kalman filter for the x, y, and r components.

Inherited functions

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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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open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)
fun setPose(@NonNull newPose: Pose2d)
Reset the accumulated pose estimate to this pose.