Package edu.wpi.first.math.kinematics

Class MecanumDriveOdometry3d

java.lang.Object
edu.wpi.first.math.kinematics.Odometry3d<MecanumDriveWheelPositions>
edu.wpi.first.math.kinematics.MecanumDriveOdometry3d
public class MecanumDriveOdometry3d extends Odometry3d<MecanumDriveWheelPositions>
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.

This class is meant to be an easy replacement for MecanumDriveOdometry, only requiring the addition of appropriate conversions between 2D and 3D versions of geometry classes. (See Pose3d(Pose2d), Rotation3d(Rotation2d), Translation3d(Translation2d), and Pose3d.toPose2d().)

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 Details

    • MecanumDriveOdometry3d

      public MecanumDriveOdometry3d(MecanumDriveKinematics kinematics, Rotation3d gyroAngle, MecanumDriveWheelPositions wheelPositions, Pose3d initialPoseMeters)
      Constructs a MecanumDriveOdometry3d object.
      Parameters:
      kinematics - The mecanum drive kinematics for your drivetrain.
      gyroAngle - The angle reported by the gyroscope.
      wheelPositions - The distances driven by each wheel.
      initialPoseMeters - The starting position of the robot on the field.

    • MecanumDriveOdometry3d

      public MecanumDriveOdometry3d(MecanumDriveKinematics kinematics, Rotation3d gyroAngle, MecanumDriveWheelPositions wheelPositions)
      Constructs a MecanumDriveOdometry3d object with the default pose at the origin.
      Parameters:
      kinematics - The mecanum drive kinematics for your drivetrain.
      gyroAngle - The angle reported by the gyroscope.
      wheelPositions - The distances driven by each wheel.