BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.drive.localizers/IntrinsicMecanumLocalizer

IntrinsicMecanumLocalizer

open class IntrinsicMecanumLocalizer : Localizer

An estimation-based Mecanum localizer that uses no encoders and only the IMU for heading. This is the bare configuration for a Mecanum drivetrain, and should only be used in an absolute dire situation where all your encoders don't work.

Author

Lucas Bubner, 2024

Since

4.0.0

Constructors

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constructor(coefficients: IntrinsicMecanumLocalizer.Coefficients, drive: MecanumDrive)
Create a new IntrinsicMecanumLocalizer.
constructor(coefficients: IntrinsicMecanumLocalizer.Coefficients, drive: MecanumDrive, driveInput: Supplier<Pose2d>)
Create a new IntrinsicMecanumLocalizer.

Types

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open class Coefficients
Coefficients used in calculating the intrinsic Mecanum pose.

Properties

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@get:NonNull
open var poseEstimate: Pose2d
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@get:Nullable
open val poseVelocity: Pose2d

Functions

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open fun update()

Inherited functions

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abstract fun getPoseEstimate(): Pose2d
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abstract fun getPoseVelocity(): Pose2d
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abstract fun setPoseEstimate(p: Pose2d)