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Enhanced odometry

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thenetworkgrinch
2023-04-08 13:14:18 -05:00
parent 5b38929c48
commit f5aabb594f
116 changed files with 2199 additions and 145 deletions
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docs/index-files/index-12.html
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@@ -1,7 +1,7 @@
<!DOCTYPE HTML>
<html lang="en">
<head>
<!-- Generated by javadoc (17) on Sat Apr 08 12:30:47 CDT 2023 -->
<!-- Generated by javadoc (17) on Sat Apr 08 13:12:34 CDT 2023 -->
<title>M-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -57,10 +57,22 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Forward kinematics matrix.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_gyroOffset" class="member-name-link">m_gyroOffset</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Gyro offset.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_inverseKinematics" class="member-name-link">m_inverseKinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Inverse kinematics matrix.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_kinematics" class="member-name-link">m_kinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Swerve drive kinematics.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_kinematics" class="member-name-link">m_kinematics</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Swerve drive kinematics.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_moduleAccelTimer" class="member-name-link">m_moduleAccelTimer</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_modules" class="member-name-link">m_modules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
@@ -71,18 +83,58 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Swerve module states.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_numModules" class="member-name-link">m_numModules</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Number of swerve modules.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_odometry" class="member-name-link">m_odometry</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Enhanced swerve drive odometry.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_poseBuffer" class="member-name-link">m_poseBuffer</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Interpolation buffer.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_poseMeters" class="member-name-link">m_poseMeters</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Estimated pose.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevChassisSpeeds" class="member-name-link">m_prevChassisSpeeds</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevCoR" class="member-name-link">m_prevCoR</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>
<div class="block">Previous CoR</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_previousAngle" class="member-name-link">m_previousAngle</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Previous gyroscope angle.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_previousModulePositions" class="member-name-link">m_previousModulePositions</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Previous swerve module positions.</div>
</dd>
<dt><a href="../swervelib/math/SwerveKinematics2.html#m_prevModuleAccelTime" class="member-name-link">m_prevModuleAccelTime</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveKinematics2.html" title="class in swervelib.math">SwerveKinematics2</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_q" class="member-name-link">m_q</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Matrix quotient.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#m_visionK" class="member-name-link">m_visionK</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Vision standard deviations.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#m_zeroModuleStates" class="member-name-link">m_zeroModuleStates</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Zero module states.</div>
</dd>
<dt><a href="../swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html#MACHINE" class="member-name-link">MACHINE</a> - Enum constant in enum class swervelib.telemetry.<a href="../swervelib/telemetry/SwerveDriveTelemetry.TelemetryVerbosity.html" title="enum class in swervelib.telemetry">SwerveDriveTelemetry.TelemetryVerbosity</a></dt>
<dd>
<div class="block">Only send the machine readable data related to swerve drive.</div>
@@ -186,6 +238,8 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Module number for kinematics, usually 0 to 3.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html#modulePositions" class="member-name-link">modulePositions</a> - Variable in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#modules" class="member-name-link">modules</a> - Variable in class swervelib.parser.json.<a href="../swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></dt>
<dd>
<div class="block">Module JSONs in order clockwise order starting from front left.</div>