BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.localization/Localizable

Localizable

interface Localizable

Interface for a generic object that may hold some current pose and velocity estimates.

Author

Lucas Bubner, 2024

Since

6.0.0

Inheritors

Functions

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@Nullable
abstract fun getPose(): Pose2d
Calculate the accumulated pose from an internal localizer.
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@Nullable
abstract fun getVelocity(): PoseVelocity2d
Calculate the first derivative of the accumulated pose from an internal localizer.
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abstract fun setPose(@NonNull newPose: Pose2d)
open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)
Reset the accumulated pose estimate to this pose.