frc::Odometry< WheelSpeeds, WheelPositions > Class Template Reference

Class for odometry. More...

#include <frc/kinematics/Odometry.h>

Public Member Functions
	Odometry (const Kinematics< WheelSpeeds, 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

template<typename WheelSpeeds, WheelPositions WheelPositions>
class frc::Odometry< WheelSpeeds, WheelPositions >

Class for odometry.

Robot code should not use this directly- Instead, use the particular type for your drivetrain (e.g., DifferentialDriveOdometry). Odometry allows you to track the robot's position on the field over a course of a match using readings from your 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.

Template Parameters

WheelSpeeds	Wheel speeds type.
WheelPositions	Wheel positions type.

Constructor & Destructor Documentation

Odometry()

template<typename WheelSpeeds , WheelPositions WheelPositions>

frc::Odometry< WheelSpeeds, WheelPositions >::Odometry ( const Kinematics< WheelSpeeds, WheelPositions > &  kinematics, const Rotation2d &  gyroAngle, const WheelPositions &  wheelPositions, const Pose2d &  initialPose = Pose2d{}  )

explicit

Constructs an Odometry object.

Parameters

kinematics	The 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.

Member Function Documentation

GetPose()

template<typename WheelSpeeds , WheelPositions WheelPositions>

const Pose2d & frc::Odometry< WheelSpeeds, WheelPositions >::GetPose ( ) const

inline

Returns the position of the robot on the field.

Returns

The pose of the robot.

ResetPosition()

template<typename WheelSpeeds , WheelPositions WheelPositions>

void frc::Odometry< WheelSpeeds, WheelPositions >::ResetPosition ( const Rotation2d &  gyroAngle, const WheelPositions &  wheelPositions, const Pose2d &  pose  )

inline

Resets the robot's position on the field.

The gyroscope angle does not need to be reset here on the user's robot code. The library automatically takes care of offsetting the gyro angle.

Parameters

gyroAngle	The angle reported by the gyroscope.
wheelPositions	The current distances measured by each wheel.
pose	The position on the field that your robot is at.

Update()

template<typename WheelSpeeds , WheelPositions WheelPositions>

const Pose2d & frc::Odometry< WheelSpeeds, WheelPositions >::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.

This method takes in an angle parameter which is used instead of the angular rate that is calculated from forward kinematics, in addition to the current distance measurement at each wheel.

Parameters

gyroAngle	The angle reported by the gyroscope.
wheelPositions	The current distances measured by each wheel.

Returns

The new pose of the robot.

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

• frc/kinematics/Odometry.h
• frc/kinematics/Odometry.inc