frc::MecanumDriveOdometry3d Class Reference

Class for mecanum drive odometry. More...

#include <frc/kinematics/MecanumDriveOdometry3d.h>

Inheritance diagram for frc::MecanumDriveOdometry3d:

Public Member Functions
	MecanumDriveOdometry3d (MecanumDriveKinematics kinematics, const Rotation3d &gyroAngle, const MecanumDriveWheelPositions &wheelPositions, const Pose3d &initialPose=Pose3d{})
	Constructs a MecanumDriveOdometry3d object.
Public Member Functions inherited from frc::Odometry3d< MecanumDriveWheelSpeeds, MecanumDriveWheelPositions >
	Odometry3d (const Kinematics< MecanumDriveWheelSpeeds, MecanumDriveWheelPositions > &kinematics, const Rotation3d &gyroAngle, const MecanumDriveWheelPositions &wheelPositions, const Pose3d &initialPose=Pose3d{})
	Constructs an Odometry3d object.
void	ResetPosition (const Rotation3d &gyroAngle, const MecanumDriveWheelPositions &wheelPositions, const Pose3d &pose)
	Resets the robot's position on the field.
void	ResetPose (const Pose3d &pose)
	Resets the pose.
void	ResetTranslation (const Translation3d &translation)
	Resets the translation of the pose.
void	ResetRotation (const Rotation3d &rotation)
	Resets the rotation of the pose.
const Pose3d &	GetPose () const
	Returns the position of the robot on the field.
const Pose3d &	Update (const Rotation3d &gyroAngle, const MecanumDriveWheelPositions &wheelPositions)
	Updates the robot's position on the field using forward kinematics and integration of the pose over time.

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

MecanumDriveOdometry3d()

frc::MecanumDriveOdometry3d::MecanumDriveOdometry3d ( MecanumDriveKinematics kinematics, const Rotation3d & gyroAngle, const MecanumDriveWheelPositions & wheelPositions, const Pose3d & initialPose = Pose3d{} )

explicit

Constructs a MecanumDriveOdometry3d 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/MecanumDriveOdometry3d.h