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

BoundedAccumulator

open class BoundedAccumulator : Accumulator

Accumulator to define clamping limits on the field.

Author

Lucas Bubner, 2024

Since

6.0.0

Constructors

BoundedAccumulator

constructor(@NonNull robotRadius: Measure<Distance>)

Create a new BoundedAccumulator.

Properties

MANUAL_VELOCITY_DT_RESOLUTION

open var MANUAL_VELOCITY_DT_RESOLUTION: Double

Time in seconds to use for the delta step in deriving velocity (s'(t) = (s(t) - s(t + dt)) / dt).

MANUAL_VELOCITY_INHIBITION_TIME

open var MANUAL_VELOCITY_INHIBITION_TIME: Double

Time in seconds that will be used to inhibit the velocity calculation after the robot pose is rebounded.

MAX_BOUNDS

@NonNull

open var MAX_BOUNDS: Rect

Maximum bounds (default full FTC field)

Inherited properties

MAX_POSE_HISTORY

open var MAX_POSE_HISTORY: Int

The maximum pose history length that should be stored in an accumulator.

pose

@NonNull

protected open var pose: Pose2d

poseHistory

@get:NonNull

open val poseHistory: LinkedList<Pose2d>

velocity

@NonNull

protected open var velocity: PoseVelocity2d

Functions

accumulate

open fun accumulate(@NonNull twist: Twist2dDual<Time>)

Run one accumulation of this accumulator to update the pose with this delta.

withRestrictedAreas

@NonNull

open fun withRestrictedAreas(@NonNull areas: Array<Rect>): BoundedAccumulator

@NonNull

open fun withRestrictedAreas(@NonNull seasonField: Field.Season): BoundedAccumulator

Set areas on the field that the robot should not be able to move into.

Inherited functions

copyTo

fun copyTo(@NonNull other: Accumulator)

Copy the state of this accumulator to another accumulator.

getPose

@NonNull

fun getPose(): Pose2d

Calculate the accumulated pose from an internal localizer.

getVelocity

@NonNull

fun getVelocity(): PoseVelocity2d

Calculate the first derivative of the accumulated pose from an internal localizer.

setPose

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.