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thenetworkgrinch
@@ -1,18 +1,17 @@
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<!DOCTYPE HTML>
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<html lang="en">
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<head>
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<!-- Generated by javadoc (17) on Sat Apr 08 13:46:47 CDT 2023 -->
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<title>SwervePoseEstimator2</title>
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<!-- Generated by javadoc (17) -->
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<title>SwervePoseEstimator2 (YAGSL-Lib API)</title>
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<meta name="dc.created" content="2023-04-08">
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<meta name="description" content="declaration: package: swervelib.math, class: SwervePoseEstimator2">
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<meta name="generator" content="javadoc/ClassWriterImpl">
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<link rel="stylesheet" type="text/css" href="../../stylesheet.css" title="Style">
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<link rel="stylesheet" type="text/css" href="../../script-dir/jquery-ui.min.css" title="Style">
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<script type="text/javascript" src="../../script-dir/jquery-3.6.1.min.js"></script>
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<script type="text/javascript" src="../../script-dir/jquery-ui.min.js"></script>
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</head>
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<body class="class-declaration-page">
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@@ -36,7 +35,7 @@ loadScripts(document, 'script');</script>
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<li><a href="package-summary.html">Package</a></li>
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<li class="nav-bar-cell1-rev">Class</li>
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<li><a href="package-tree.html">Tree</a></li>
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<li><a href="../../index-files/index-1.html">Index</a></li>
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<li><a href="../../index-all.html">Index</a></li>
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<li><a href="../../help-doc.html#class">Help</a></li>
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</ul>
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</div>
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@@ -44,14 +43,14 @@ loadScripts(document, 'script');</script>
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<div>
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<ul class="sub-nav-list">
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<li>Summary: </li>
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<li><a href="#nested-class-summary">Nested</a> | </li>
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<li><a href="#field-summary">Field</a> | </li>
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<li>Nested | </li>
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<li>Field | </li>
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<li><a href="#constructor-summary">Constr</a> | </li>
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<li><a href="#method-summary">Method</a></li>
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</ul>
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<ul class="sub-nav-list">
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<li>Detail: </li>
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||||
<li><a href="#field-detail">Field</a> | </li>
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||||
<li>Field | </li>
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||||
<li><a href="#constructor-detail">Constr</a> | </li>
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<li><a href="#method-detail">Method</a></li>
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</ul>
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@@ -78,70 +77,11 @@ loadScripts(document, 'script');</script>
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<hr>
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<div class="type-signature"><span class="modifiers">public class </span><span class="element-name type-name-label">SwervePoseEstimator2</span>
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<span class="extends-implements">extends <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></span></div>
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<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to achieve a more
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accurate estimation, originally made by Team 1466.</div>
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<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to
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achieve a more accurate estimation, originally made by Team 1466.</div>
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</section>
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<section class="summary">
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<ul class="summary-list">
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<!-- ======== NESTED CLASS SUMMARY ======== -->
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<li>
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<section class="nested-class-summary" id="nested-class-summary">
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<h2>Nested Class Summary</h2>
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<div class="caption"><span>Nested Classes</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Class</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>private class </code></div>
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<div class="col-second even-row-color"><code><a href="SwervePoseEstimator2.InterpolationRecord.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Represents an odometry record.</div>
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</div>
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</div>
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</section>
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</li>
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<!-- =========== FIELD SUMMARY =========== -->
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<li>
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<section class="field-summary" id="field-summary">
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<h2>Field Summary</h2>
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<div class="caption"><span>Fields</span></div>
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<div class="summary-table three-column-summary">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Field</div>
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||||
<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
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<div class="col-second even-row-color"><code><a href="#m_kinematics" class="member-name-link">m_kinematics</a></code></div>
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||||
<div class="col-last even-row-color">
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<div class="block">Swerve drive kinematics.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final int</code></div>
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<div class="col-second odd-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Number of swerve modules.</div>
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</div>
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<div class="col-first even-row-color"><code>private final <a href="SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></code></div>
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<div class="col-second even-row-color"><code><a href="#m_odometry" class="member-name-link">m_odometry</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Enhanced swerve drive odometry.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.interpolation.TimeInterpolatableBuffer<<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>></code></div>
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<div class="col-second odd-row-color"><code><a href="#m_poseBuffer" class="member-name-link">m_poseBuffer</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Interpolation buffer.</div>
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</div>
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<div class="col-first even-row-color"><code>private final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1></code></div>
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<div class="col-second even-row-color"><code><a href="#m_q" class="member-name-link">m_q</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Matrix quotient.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N3></code></div>
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<div class="col-second odd-row-color"><code><a href="#m_visionK" class="member-name-link">m_visionK</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Vision standard deviations.</div>
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</div>
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</div>
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</section>
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</li>
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<!-- ======== CONSTRUCTOR SUMMARY ======== -->
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<li>
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<section class="constructor-summary" id="constructor-summary">
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@@ -155,7 +95,8 @@ loadScripts(document, 'script');</script>
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edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions,
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edu.wpi.first.math.geometry.Pose2d initialPoseMeters)</code></div>
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<div class="col-last even-row-color">
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<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.</div>
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||||
<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision
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measurements.</div>
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</div>
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<div class="col-constructor-name odd-row-color"><code><a href="#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d,edu.wpi.first.math.Matrix,edu.wpi.first.math.Matrix)" class="member-name-link">SwervePoseEstimator2</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics,
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edu.wpi.first.math.geometry.Rotation2d gyroAngle,
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@@ -239,56 +180,6 @@ loadScripts(document, 'script');</script>
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</section>
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<section class="details">
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<ul class="details-list">
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<!-- ============ FIELD DETAIL =========== -->
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<li>
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<section class="field-details" id="field-detail">
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<h2>Field Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="m_kinematics">
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<h3>m_kinematics</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">edu.wpi.first.math.kinematics.SwerveDriveKinematics</span> <span class="element-name">m_kinematics</span></div>
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<div class="block">Swerve drive kinematics.</div>
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</section>
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</li>
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||||
<li>
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||||
<section class="detail" id="m_odometry">
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<h3>m_odometry</h3>
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||||
<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type"><a href="SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></span> <span class="element-name">m_odometry</span></div>
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<div class="block">Enhanced swerve drive odometry.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="m_q">
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<h3>m_q</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1></span> <span class="element-name">m_q</span></div>
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<div class="block">Matrix quotient.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="m_numModules">
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<h3>m_numModules</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">int</span> <span class="element-name">m_numModules</span></div>
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<div class="block">Number of swerve modules.</div>
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</section>
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</li>
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<li>
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<section class="detail" id="m_poseBuffer">
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||||
<h3>m_poseBuffer</h3>
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||||
<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">edu.wpi.first.math.interpolation.TimeInterpolatableBuffer<<a href="SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a>></span> <span class="element-name">m_poseBuffer</span></div>
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<div class="block">Interpolation buffer.</div>
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</section>
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||||
</li>
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||||
<li>
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||||
<section class="detail" id="m_visionK">
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<h3>m_visionK</h3>
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||||
<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N3></span> <span class="element-name">m_visionK</span></div>
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<div class="block">Vision standard deviations.</div>
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</section>
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</li>
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</ul>
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</section>
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</li>
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<!-- ========= CONSTRUCTOR DETAIL ======== -->
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||||
<li>
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||||
<section class="constructor-details" id="constructor-detail">
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||||
@@ -301,11 +192,12 @@ loadScripts(document, 'script');</script>
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edu.wpi.first.math.geometry.Rotation2d gyroAngle,
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edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions,
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edu.wpi.first.math.geometry.Pose2d initialPoseMeters)</span></div>
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<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.
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<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision
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measurements.
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<p>The default standard deviations of the model states are 0.1 meters for x, 0.1 meters for y,
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and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9 meters for x, 0.9
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meters for y, and 0.9 radians for heading.</div>
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and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9
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meters for x, 0.9 meters for y, and 0.9 radians for heading.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>kinematics</code> - A correctly-configured kinematics object for your drivetrain.</dd>
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@@ -331,12 +223,12 @@ loadScripts(document, 'script');</script>
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<dd><code>gyroAngle</code> - The current gyro angle.</dd>
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<dd><code>modulePositions</code> - The current distance and rotation measurements of the swerve modules.</dd>
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<dd><code>initialPoseMeters</code> - The starting pose estimate.</dd>
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<dd><code>stateStdDevs</code> - Standard deviations of the pose estimate (x position in meters, y position in
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meters, and heading in radians). Increase these numbers to trust your state
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estimate less.</dd>
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<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision pose measurement (x position in meters, y
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position in meters, and heading in radians). Increase these numbers to trust the
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vision pose measurement less.</dd>
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<dd><code>stateStdDevs</code> - Standard deviations of the pose estimate (x position in meters, y position
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in meters, and heading in radians). Increase these numbers to trust your state estimate
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less.</dd>
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<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision pose measurement (x position
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in meters, y position in meters, and heading in radians). Increase these numbers to trust
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the vision pose measurement less.</dd>
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</dl>
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</section>
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</li>
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@@ -352,13 +244,14 @@ loadScripts(document, 'script');</script>
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<section class="detail" id="setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)">
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<h3>setVisionMeasurementStdDevs</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">setVisionMeasurementStdDevs</span><wbr><span class="parameters">(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</span></div>
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<div class="block">Sets the pose estimator's trust of global measurements. This might be used to change trust in vision measurements
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after the autonomous period, or to change trust as distance to a vision target increases.</div>
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<div class="block">Sets the pose estimator's trust of global measurements. This might be used to change trust in
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vision measurements after the autonomous period, or to change trust as distance to a vision
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target increases.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision measurements. Increase these numbers to trust
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global measurements from vision less. This matrix is in the form [x, y, theta]^T,
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with units in meters and radians.</dd>
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<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision measurements. Increase these
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numbers to trust global measurements from vision less. This matrix is in the form [x, y,
|
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theta]^T, with units in meters and radians.</dd>
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</dl>
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</section>
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||||
</li>
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||||
@@ -396,23 +289,23 @@ loadScripts(document, 'script');</script>
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<h3>addVisionMeasurement</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters,
|
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double timestampSeconds)</span></div>
|
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<div class="block">Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting
|
||||
for measurement noise.
|
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<div class="block">Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
|
||||
while still accounting for measurement noise.
|
||||
|
||||
<p>This method can be called as infrequently as you want, as long as you are calling <code>SwerveDrivePoseEstimator.update(edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.math.kinematics.SwerveModulePosition[])</code> every loop.
|
||||
|
||||
<p>To promote stability of the pose estimate and make it robust to bad vision data, we
|
||||
recommend only adding vision measurements that are already within one meter or so of the current pose estimate.</div>
|
||||
recommend only adding vision measurements that are already within one meter or so of the
|
||||
current pose estimate.</div>
|
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<dl class="notes">
|
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<dt>Parameters:</dt>
|
||||
<dd><code>visionRobotPoseMeters</code> - The pose of the robot as measured by the vision camera.</dd>
|
||||
<dd><code>timestampSeconds</code> - The timestamp of the vision measurement in seconds. Note that if you don't use your
|
||||
own time source by calling
|
||||
<code>SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[])</code> then you must use a timestamp with an epoch since FPGA
|
||||
startup (i.e., the epoch of this timestamp is the same epoch as
|
||||
<code>Timer.getFPGATimestamp()</code>.) This means that you should
|
||||
use <code>Timer.getFPGATimestamp()</code> as your time source or sync
|
||||
the epochs.</dd>
|
||||
<dd><code>timestampSeconds</code> - The timestamp of the vision measurement in seconds. Note that if you
|
||||
don't use your own time source by calling <code>SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[])</code> then
|
||||
you must use a timestamp with an epoch since FPGA startup (i.e., the epoch of this
|
||||
timestamp is the same epoch as <code>Timer.getFPGATimestamp()</code>.)
|
||||
This means that you should use <code>Timer.getFPGATimestamp()</code> as
|
||||
your time source or sync the epochs.</dd>
|
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</dl>
|
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</section>
|
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</li>
|
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@@ -422,30 +315,29 @@ loadScripts(document, 'script');</script>
|
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">addVisionMeasurement</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters,
|
||||
double timestampSeconds,
|
||||
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</span></div>
|
||||
<div class="block">Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate while still accounting
|
||||
for measurement noise.
|
||||
<div class="block">Adds a vision measurement to the Kalman Filter. This will correct the odometry pose estimate
|
||||
while still accounting for measurement noise.
|
||||
|
||||
<p>This method can be called as infrequently as you want, as long as you are calling <code>SwerveDrivePoseEstimator.update(edu.wpi.first.math.geometry.Rotation2d, edu.wpi.first.math.kinematics.SwerveModulePosition[])</code> every loop.
|
||||
|
||||
<p>To promote stability of the pose estimate and make it robust to bad vision data, we
|
||||
recommend only adding vision measurements that are already within one meter or so of the current pose estimate.
|
||||
recommend only adding vision measurements that are already within one meter or so of the
|
||||
current pose estimate.
|
||||
|
||||
<p>Note that the vision measurement standard deviations passed into this method will continue
|
||||
to apply to future measurements until a subsequent call to
|
||||
<code>SwerveDrivePoseEstimator.setVisionMeasurementStdDevs(Matrix)</code> or this method.</div>
|
||||
to apply to future measurements until a subsequent call to <code>PoseEstimator.setVisionMeasurementStdDevs(Matrix)</code> or this method.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>visionRobotPoseMeters</code> - The pose of the robot as measured by the vision camera.</dd>
|
||||
<dd><code>timestampSeconds</code> - The timestamp of the vision measurement in seconds. Note that if you don't use your
|
||||
own time source by calling
|
||||
<code>SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[])</code>, then you must use a timestamp with an epoch since FPGA
|
||||
startup (i.e., the epoch of this timestamp is the same epoch as
|
||||
<code>Timer.getFPGATimestamp()</code>). This means that you should
|
||||
use <code>Timer.getFPGATimestamp()</code> as your time source in
|
||||
this case.</dd>
|
||||
<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision pose measurement (x position in meters, y
|
||||
position in meters, and heading in radians). Increase these numbers to trust the
|
||||
vision pose measurement less.</dd>
|
||||
<dd><code>timestampSeconds</code> - The timestamp of the vision measurement in seconds. Note that if you
|
||||
don't use your own time source by calling <code>SwerveDrivePoseEstimator.updateWithTime(double, Rotation2d, SwerveModulePosition[])</code>, then
|
||||
you must use a timestamp with an epoch since FPGA startup (i.e., the epoch of this
|
||||
timestamp is the same epoch as <code>Timer.getFPGATimestamp()</code>).
|
||||
This means that you should use <code>Timer.getFPGATimestamp()</code> as
|
||||
your time source in this case.</dd>
|
||||
<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision pose measurement (x position
|
||||
in meters, y position in meters, and heading in radians). Increase these numbers to trust
|
||||
the vision pose measurement less.</dd>
|
||||
</dl>
|
||||
</section>
|
||||
</li>
|
||||
@@ -456,7 +348,8 @@ loadScripts(document, 'script');</script>
|
||||
edu.wpi.first.math.geometry.Rotation2d gyroPitch,
|
||||
edu.wpi.first.math.geometry.Rotation2d gyroRoll,
|
||||
edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)</span></div>
|
||||
<div class="block">Updates the pose estimator with wheel encoder and gyro information. This should be called every loop.</div>
|
||||
<div class="block">Updates the pose estimator with wheel encoder and gyro information. This should be called every
|
||||
loop.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>gyroAngle</code> - The current gyro angle.</dd>
|
||||
@@ -476,7 +369,8 @@ loadScripts(document, 'script');</script>
|
||||
edu.wpi.first.math.geometry.Rotation2d gyroPitch,
|
||||
edu.wpi.first.math.geometry.Rotation2d gyroRoll,
|
||||
edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)</span></div>
|
||||
<div class="block">Updates the pose estimator with wheel encoder and gyro information. This should be called every loop.</div>
|
||||
<div class="block">Updates the pose estimator with wheel encoder and gyro information. This should be called every
|
||||
loop.</div>
|
||||
<dl class="notes">
|
||||
<dt>Parameters:</dt>
|
||||
<dd><code>currentTimeSeconds</code> - Time at which this method was called, in seconds.</dd>
|
||||
|
||||
Reference in New Issue
Block a user