frc::SwerveDriveOdometry< NumModules > Class Template Reference

Class for swerve drive odometry. More...

#include <frc/kinematics/SwerveDriveOdometry.h>

Inheritance diagram for frc::SwerveDriveOdometry< NumModules >:

Public Member Functions
	SwerveDriveOdometry (SwerveDriveKinematics< NumModules > kinematics, const Rotation2d &gyroAngle, const wpi::array< SwerveModulePosition, NumModules > &modulePositions, const Pose2d &initialPose=Pose2d{})
	Constructs a SwerveDriveOdometry object.
Public Member Functions inherited from frc::Odometry< wpi::array< SwerveModuleState, NumModules >, wpi::array< SwerveModulePosition, NumModules > >
	Odometry (const Kinematics< wpi::array< SwerveModuleState, NumModules >, wpi::array< SwerveModulePosition, NumModules > > &kinematics, const Rotation2d &gyroAngle, const wpi::array< SwerveModulePosition, NumModules > &wheelPositions, const Pose2d &initialPose=Pose2d{})
	Constructs an Odometry object.
void	ResetPosition (const Rotation2d &gyroAngle, const wpi::array< SwerveModulePosition, NumModules > &wheelPositions, const Pose2d &pose)
	Resets the robot's position on the field.
void	ResetPose (const Pose2d &pose)
	Resets the pose.
void	ResetTranslation (const Translation2d &translation)
	Resets the translation of the pose.
void	ResetRotation (const Rotation2d &rotation)
	Resets the rotation of the pose.
const Pose2d &	GetPose () const
	Returns the position of the robot on the field.
const Pose2d &	Update (const Rotation2d &gyroAngle, const wpi::array< SwerveModulePosition, NumModules > &wheelPositions)
	Updates the robot's position on the field using forward kinematics and integration of the pose over time.

Detailed Description

template<size_t NumModules>
class frc::SwerveDriveOdometry< NumModules >

Class for swerve drive odometry.

Odometry allows you to track the robot's position on the field over a course of a match using readings from your swerve drive encoders and swerve azimuth 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

SwerveDriveOdometry()

template<size_t NumModules>

frc::SwerveDriveOdometry< NumModules >::SwerveDriveOdometry ( SwerveDriveKinematics< NumModules > kinematics, const Rotation2d & gyroAngle, const wpi::array< SwerveModulePosition, NumModules > & modulePositions, const Pose2d & initialPose = Pose2d{} )

inline

Constructs a SwerveDriveOdometry object.

Parameters

kinematics	The swerve drive kinematics for your drivetrain.
gyroAngle	The angle reported by the gyroscope.
modulePositions	The wheel positions reported by each module.
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/SwerveDriveOdometry.h