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thenetworkgrinch
2023-08-09 16:23:30 -05:00
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@@ -1,18 +1,17 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 13:46:47 CDT 2023 -->
<title>SwerveDriveOdometry2</title>
<!-- Generated by javadoc (17) -->
<title>SwerveDriveOdometry2 (YAGSL-Lib API)</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="dc.created" content="2023-04-08">
<meta name="description" content="declaration: package: swervelib.math, class: SwerveDriveOdometry2">
<meta name="generator" content="javadoc/ClassWriterImpl">
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<body class="class-declaration-page">
@@ -36,7 +35,7 @@ loadScripts(document, 'script');</script>
<li><a href="package-summary.html">Package</a></li>
<li class="nav-bar-cell1-rev">Class</li>
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</ul>
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@@ -45,13 +44,13 @@ loadScripts(document, 'script');</script>
<ul class="sub-nav-list">
<li>Summary:&nbsp;</li>
<li>Nested&nbsp;|&nbsp;</li>
<li><a href="#field-summary">Field</a>&nbsp;|&nbsp;</li>
<li>Field&nbsp;|&nbsp;</li>
<li><a href="#constructor-summary">Constr</a>&nbsp;|&nbsp;</li>
<li><a href="#method-summary">Method</a></li>
</ul>
<ul class="sub-nav-list">
<li>Detail:&nbsp;</li>
<li><a href="#field-detail">Field</a>&nbsp;|&nbsp;</li>
<li>Field&nbsp;|&nbsp;</li>
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<li><a href="#method-detail">Method</a></li>
</ul>
@@ -72,66 +71,21 @@ loadScripts(document, 'script');</script>
<h1 title="Class SwerveDriveOdometry2" class="title">Class SwerveDriveOdometry2</h1>
</div>
<div class="inheritance" title="Inheritance Tree"><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">java.lang.Object</a>
<div class="inheritance">edu.wpi.first.math.kinematics.Odometry&lt;edu.wpi.first.math.kinematics.SwerveDriveWheelPositions&gt;
<div class="inheritance">edu.wpi.first.math.kinematics.SwerveDriveOdometry
<div class="inheritance">swervelib.math.SwerveDriveOdometry2</div>
</div>
</div>
</div>
<section class="class-description" id="class-description">
<hr>
<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwerveDriveOdometry2</span>
<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveDriveOdometry</span></div>
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.
Originally made by Team 1466.</div>
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate
estimation. Originally made by Team 1466.</div>
</section>
<section class="summary">
<ul class="summary-list">
<!-- =========== FIELD SUMMARY =========== -->
<li>
<section class="field-summary" id="field-summary">
<h2>Field Summary</h2>
<div class="caption"><span>Fields</span></div>
<div class="summary-table three-column-summary">
<div class="table-header col-first">Modifier and Type</div>
<div class="table-header col-second">Field</div>
<div class="table-header col-last">Description</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#m_gyroOffset" class="member-name-link">m_gyroOffset</a></code></div>
<div class="col-last even-row-color">
<div class="block">Gyro offset.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
<div class="col-second odd-row-color"><code><a href="#m_kinematics" class="member-name-link">m_kinematics</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Swerve drive kinematics.</div>
</div>
<div class="col-first even-row-color"><code>private final int</code></div>
<div class="col-second even-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
<div class="col-last even-row-color">
<div class="block">Number of swerve modules.</div>
</div>
<div class="col-first odd-row-color"><code>private edu.wpi.first.math.geometry.Pose2d</code></div>
<div class="col-second odd-row-color"><code><a href="#m_poseMeters" class="member-name-link">m_poseMeters</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Estimated pose.</div>
</div>
<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation2d</code></div>
<div class="col-second even-row-color"><code><a href="#m_previousAngle" class="member-name-link">m_previousAngle</a></code></div>
<div class="col-last even-row-color">
<div class="block">Previous gyroscope angle.</div>
</div>
<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
<div class="col-second odd-row-color"><code><a href="#m_previousModulePositions" class="member-name-link">m_previousModulePositions</a></code></div>
<div class="col-last odd-row-color">
<div class="block">Previous swerve module positions.</div>
</div>
<div class="col-first even-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
<div class="col-second even-row-color"><code><a href="#m_zeroModuleStates" class="member-name-link">m_zeroModuleStates</a></code></div>
<div class="col-last even-row-color">
<div class="block">Zero module states.</div>
</div>
</div>
</section>
</li>
<!-- ======== CONSTRUCTOR SUMMARY ======== -->
<li>
<section class="constructor-summary" id="constructor-summary">
@@ -185,14 +139,15 @@ loadScripts(document, 'script');</script>
edu.wpi.first.math.geometry.Rotation2d&nbsp;roll,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</code></div>
<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose over time.</div>
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose
over time.</div>
</div>
</div>
</div>
</div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveOdometry">Methods inherited from class&nbsp;edu.wpi.first.math.kinematics.SwerveDriveOdometry</h3>
<code>update</code></div>
<code>resetPosition, update, update</code></div>
<div class="inherited-list">
<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class&nbsp;java.lang.<a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html" title="class or interface in java.lang" class="external-link">Object</a></h3>
<code><a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#clone()" title="class or interface in java.lang" class="external-link">clone</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#equals(java.lang.Object)" title="class or interface in java.lang" class="external-link">equals</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#finalize()" title="class or interface in java.lang" class="external-link">finalize</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#getClass()" title="class or interface in java.lang" class="external-link">getClass</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#hashCode()" title="class or interface in java.lang" class="external-link">hashCode</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notify()" title="class or interface in java.lang" class="external-link">notify</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#notifyAll()" title="class or interface in java.lang" class="external-link">notifyAll</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#toString()" title="class or interface in java.lang" class="external-link">toString</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait()" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long)" title="class or interface in java.lang" class="external-link">wait</a>, <a href="https://docs.oracle.com/en/java/javase/17/docs/api/java.base/java/lang/Object.html#wait(long,int)" title="class or interface in java.lang" class="external-link">wait</a></code></div>
@@ -202,63 +157,6 @@ loadScripts(document, 'script');</script>
</section>
<section class="details">
<ul class="details-list">
<!-- ============ FIELD DETAIL =========== -->
<li>
<section class="field-details" id="field-detail">
<h2>Field Details</h2>
<ul class="member-list">
<li>
<section class="detail" id="m_kinematics">
<h3>m_kinematics</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveDriveKinematics</span>&nbsp;<span class="element-name">m_kinematics</span></div>
<div class="block">Swerve drive kinematics.</div>
</section>
</li>
<li>
<section class="detail" id="m_numModules">
<h3>m_numModules</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">int</span>&nbsp;<span class="element-name">m_numModules</span></div>
<div class="block">Number of swerve modules.</div>
</section>
</li>
<li>
<section class="detail" id="m_previousModulePositions">
<h3>m_previousModulePositions</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModulePosition[]</span>&nbsp;<span class="element-name">m_previousModulePositions</span></div>
<div class="block">Previous swerve module positions.</div>
</section>
</li>
<li>
<section class="detail" id="m_zeroModuleStates">
<h3>m_zeroModuleStates</h3>
<div class="member-signature"><span class="modifiers">private final</span>&nbsp;<span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState[]</span>&nbsp;<span class="element-name">m_zeroModuleStates</span></div>
<div class="block">Zero module states.</div>
</section>
</li>
<li>
<section class="detail" id="m_poseMeters">
<h3>m_poseMeters</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Pose2d</span>&nbsp;<span class="element-name">m_poseMeters</span></div>
<div class="block">Estimated pose.</div>
</section>
</li>
<li>
<section class="detail" id="m_gyroOffset">
<h3>m_gyroOffset</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">m_gyroOffset</span></div>
<div class="block">Gyro offset.</div>
</section>
</li>
<li>
<section class="detail" id="m_previousAngle">
<h3>m_previousAngle</h3>
<div class="member-signature"><span class="modifiers">private</span>&nbsp;<span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span>&nbsp;<span class="element-name">m_previousAngle</span></div>
<div class="block">Previous gyroscope angle.</div>
</section>
</li>
</ul>
</section>
</li>
<!-- ========= CONSTRUCTOR DETAIL ======== -->
<li>
<section class="constructor-details" id="constructor-detail">
@@ -333,7 +231,7 @@ loadScripts(document, 'script');</script>
<div class="block">Returns the position of the robot on the field.</div>
<dl class="notes">
<dt>Overrides:</dt>
<dd><code>getPoseMeters</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.SwerveDriveOdometry</code></dd>
<dd><code>getPoseMeters</code>&nbsp;in class&nbsp;<code>edu.wpi.first.math.kinematics.Odometry&lt;edu.wpi.first.math.kinematics.SwerveDriveWheelPositions&gt;</code></dd>
<dt>Returns:</dt>
<dd>The pose of the robot (x and y are in meters).</dd>
</dl>
@@ -346,18 +244,19 @@ loadScripts(document, 'script');</script>
edu.wpi.first.math.geometry.Rotation2d&nbsp;pitch,
edu.wpi.first.math.geometry.Rotation2d&nbsp;roll,
edu.wpi.first.math.kinematics.SwerveModulePosition[]&nbsp;modulePositions)</span></div>
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose over time. This
method automatically calculates the current time to calculate period (difference between two timestamps). The
period is used to calculate the change in distance from a velocity. This also takes in an angle parameter which is
used instead of the angular rate that is calculated from forward kinematics. This also takes in pitch and roll to
allow for more accurate pose estimation on angled surfaces using a rotation matrix.</div>
<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose
over time. This method automatically calculates the current time to calculate period
(difference between two timestamps). The period is used to calculate the change in distance
from a velocity. This also takes in an angle parameter which is used instead of the angular
rate that is calculated from forward kinematics. This also takes in pitch and roll to allow for
more accurate pose estimation on angled surfaces using a rotation matrix.</div>
<dl class="notes">
<dt>Parameters:</dt>
<dd><code>gyroYaw</code> - The yaw reported by the gyro.</dd>
<dd><code>pitch</code> - The pitch reported by the gyro.</dd>
<dd><code>roll</code> - The roll reported by the gyro.</dd>
<dd><code>modulePositions</code> - The current position of all swerve modules. Please provide the positions in the same order
in which you instantiated your SwerveDriveKinematics.</dd>
<dd><code>modulePositions</code> - The current position of all swerve modules. Please provide the positions
in the same order in which you instantiated your SwerveDriveKinematics.</dd>
<dt>Returns:</dt>
<dd>The new pose of the robot.</dd>
</dl>