PedroPathing/com.pedropathing.localization/Localizer

Localizer

public abstract class Localizer

This is the Localizer class. It is an abstract superclass of all localizers used in Pedro Pathing, so it contains abstract methods that will have a concrete implementation in the subclasses. Any method that all localizers will need will be in this class.

Author

Anyi Lin - 10158 Scott's Bots

Inheritors

ThreeWheelLocalizer

PinpointLocalizer

ThreeWheelIMULocalizer

DriveEncoderLocalizer

TwoWheelLocalizer

Constructors

public void Localizer()

Functions

getForwardMultiplier

public abstract double getForwardMultiplier()

This returns the multiplier applied to forward movement measurement to convert from encoder ticks to inches.

public IMU getIMU()

This is overridden to return the IMU, if there is one.

getLateralMultiplier

public abstract double getLateralMultiplier()

This returns the multiplier applied to lateral/strafe movement measurement to convert from encoder ticks to inches.

public abstract Pose getPose()

This returns the current pose estimate from the Localizer.

getTotalHeading

public abstract double getTotalHeading()

This returns how far the robot has turned in radians, in a number not clamped between 0 and 2 * pi radians.

getTurningMultiplier

public abstract double getTurningMultiplier()

This returns the multiplier applied to turning movement measurement to convert from encoder ticks to radians.

public abstract Pose getVelocity()

This returns the current velocity estimate from the Localizer.

getVelocityVector

public abstract Vector getVelocityVector()

This returns the current velocity estimate from the Localizer as a Vector.

public abstract boolean isNAN()

This returns whether if any component of robot's position is NaN.

public abstract void resetIMU()

This resets the IMU of the localizer, if applicable.

public abstract void setPose(Pose setPose)

This sets the current pose estimate of the Localizer.

public abstract void setStartPose(Pose setStart)

This sets the start pose of the Localizer.

public abstract void update()

This calls an update to the Localizer, updating the current pose estimate and current velocity estimate.