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

SwitchableLocalizer

open class SwitchableLocalizer : Localizer

SwitchableLocalizer is a composite localizer that allows self-tests to be performed, and to allow a "fallback" localizer to kick in if the self-test fails.

Author

Lucas Bubner, 2024

Since

4.0.0

Constructors

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constructor(@NonNull main: Localizer, @NonNull fallback: Localizer)
Create a new SwitchableLocalizer.

Types

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open inner class Tasks
Self-test tasks for SwitchableLocalizer.

Properties

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@NonNull
open var tasks: SwitchableLocalizer.Tasks
Available tasks for self-tests on this localizer.
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open var USING_FALLBACK_LOCALIZER: Boolean
Whether the fallback localizer should be used.

Functions

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open fun switchToFallback()
Switch to the backup localizer for all pose data.
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open fun switchToMain()
Switch to the main localizer for all pose data.
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@NonNull
open fun update(): Twist2dDual<Time>
Perform one iteration of localizer delta updates.