PedroPathing/com.pedropathing.localization/PoseUpdater

PoseUpdater

This is the PoseUpdater class. This class handles getting pose data from the localizer and returning the information in a useful way to the Follower.

Author

Anyi Lin - 10158 Scott's Bots

Aaron Yang - 10158 Scott's Bots

Harrison Womack - 10158 Scott's Bots

Baron Henderson - 20077 The Indubitables

Constructors

PoseUpdater

public void PoseUpdater(HardwareMap hardwareMap, Localizer localizer)

Creates a new PoseUpdater from a HardwareMap and a Localizer.

public void PoseUpdater(HardwareMap hardwareMap)

Creates a new PoseUpdater from a HardwareMap.

Properties

headingOffset

public double headingOffset

localizer

public Localizer localizer

previousPose

public Pose previousPose

xOffset

public double xOffset

yOffset

public double yOffset

Functions

applyOffset

public Pose applyOffset(Pose pose)

This applies the offset to a specified Pose.

getAcceleration

public Vector getAcceleration()

This returns the acceleration of the robot as a Vector.

getAngularVelocity

public double getAngularVelocity()

This returns the angular velocity of the robot as a double.

getDeltaPose

public Pose getDeltaPose()

Returns the robot's change in pose from the previous update.

getHeadingOffset

public double getHeadingOffset()

This returns the heading offset.

getLocalizer

public Localizer getLocalizer()

This returns the Localizer.

getNormalizedIMUHeading

public double getNormalizedIMUHeading()

This returns the IMU heading normalized to be between [0, 2 PI] radians.

getPose

public Pose getPose()

This returns the current pose, with offsets applied.

getPreviousPose

public Pose getPreviousPose()

Returns the robot's pose from the previous update.

getRawPose

public Pose getRawPose()

This returns the current raw pose, without any offsets applied.

getTotalHeading

public double getTotalHeading()

This returns the total number of radians the robot has turned.

getVelocity

public Vector getVelocity()

This returns the velocity of the robot as a Vector.

getXOffset

public double getXOffset()

This returns the x offset.

getYOffset

public double getYOffset()

This returns the y offset.

resetHeadingToIMU

public void resetHeadingToIMU()

This resets the heading of the robot to the IMU's heading, using Road Runner's pose reset.

resetHeadingToIMUWithOffsets

public void resetHeadingToIMUWithOffsets()

This resets the heading of the robot to the IMU's heading, using offsets instead of Road Runner's pose reset.

resetIMU

public void resetIMU()

resetOffset

public void resetOffset()

This resets all offsets set to the PoseUpdater.

setCurrentPoseWithOffset

public void setCurrentPoseWithOffset(Pose set)

This sets the current pose, using offsets.

setHeadingOffset

public void setHeadingOffset(double offset)

This sets the offset for only the heading.

setPose

public void setPose(Pose set)

This sets the current pose without using resettable offsets.

setStartingPose

public void setStartingPose(Pose set)

This sets the starting pose.

setXOffset

public void setXOffset(double offset)

This sets the offset for only the x position.

setYOffset

public void setYOffset(double offset)

This sets the offset for only the y position.

update

public void update()

This updates the robot's pose, as well as updating the previous pose, velocity, and acceleration.