frc::MecanumDriveOdometry Class Reference

Class for mecanum drive odometry. More...

#include <frc/kinematics/MecanumDriveOdometry.h>

Inheritance diagram for frc::MecanumDriveOdometry:

Public Member Functions
	MecanumDriveOdometry (MecanumDriveKinematics kinematics, const Rotation2d &gyroAngle, const MecanumDriveWheelPositions &wheelPositions, const Pose2d &initialPose=Pose2d{})
	Constructs a MecanumDriveOdometry object. More...
Public Member Functions inherited from frc::Odometry< MecanumDriveWheelSpeeds, MecanumDriveWheelPositions >
	Odometry (const Kinematics< MecanumDriveWheelSpeeds, WheelPositions > &kinematics, const Rotation2d &gyroAngle, const WheelPositions &wheelPositions, const Pose2d &initialPose=Pose2d{})
	Constructs an Odometry object. More...
void	ResetPosition (const Rotation2d &gyroAngle, const WheelPositions &wheelPositions, const Pose2d &pose)
	Resets the robot's position on the field. More...
const Pose2d &	GetPose () const
	Returns the position of the robot on the field. More...
const Pose2d &	Update (const Rotation2d &gyroAngle, const WheelPositions &wheelPositions)
	Updates the robot's position on the field using forward kinematics and integration of the pose over time. More...

Detailed Description

Class for mecanum drive odometry.

Odometry allows you to track the robot's position on the field over a course of a match using readings from your mecanum wheel encoders.

Teams can use odometry during the autonomous period for complex tasks like path following. Furthermore, odometry can be used for latency compensation when using computer-vision systems.

Constructor & Destructor Documentation

MecanumDriveOdometry()

frc::MecanumDriveOdometry::MecanumDriveOdometry ( MecanumDriveKinematics  kinematics, const Rotation2d &  gyroAngle, const MecanumDriveWheelPositions &  wheelPositions, const Pose2d &  initialPose = Pose2d{}  )

explicit

Constructs a MecanumDriveOdometry object.

Parameters

kinematics	The mecanum drive kinematics for your drivetrain.
gyroAngle	The angle reported by the gyroscope.
wheelPositions	The current distances measured by each wheel.
initialPose	The starting position of the robot on the field.

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The documentation for this class was generated from the following file:

• frc/kinematics/MecanumDriveOdometry.h