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

setKalmanGains

@NonNull
open fun setKalmanGains(R: Double, Q: Double): AprilTagRelocalizingAccumulator

Set the gains used in the Kalman filter for the x, y, and r components.

Return

this

Since

4.1.0

Parameters

R

higher values of R will put more trust in the odometry

Q

higher values of Q trusts the AprilTag more