BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.drive.localizers/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(main: Localizer, 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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@get:NonNull
open var poseEstimate: Pose2d
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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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@Nullable
open fun getPoseVelocity(): Pose2d
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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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open fun update()

Inherited functions

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