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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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@@ -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>S-Index</title>
<meta name="viewport" content="width=device-width, initial-scale=1">
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
@@ -328,6 +328,10 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Set the closed loop PID controller reference point.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs(Matrix&lt;N3, N1&gt;)</a> - Method in class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Sets the pose estimator's trust of global measurements.</div>
</dd>
<dt><a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html#setVoltageCompensation(double)" class="member-name-link">setVoltageCompensation(double)</a> - Method in class swervelib.motors.<a href="../swervelib/motors/SparkMaxBrushedMotorSwerve.html" title="class in swervelib.motors">SparkMaxBrushedMotorSwerve</a></dt>
<dd>
<div class="block">Set the voltage compensation for the swerve module motor.</div>
@@ -480,6 +484,18 @@ loadScripts(document, 'script');</script>
</dd>
<dt><a href="../swervelib/parser/json/SwerveDriveJson.html#%3Cinit%3E()" class="member-name-link">SwerveDriveJson()</a> - Constructor for class swervelib.parser.json.<a href="../swervelib/parser/json/SwerveDriveJson.html" title="class in swervelib.parser.json">SwerveDriveJson</a></dt>
<dd>&nbsp;</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html" class="type-name-link" title="class in swervelib.math">SwerveDriveOdometry2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#%3Cinit%3E(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[])</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Constructs a SwerveDriveOdometry object with the default pose at the origin.</div>
</dd>
<dt><a href="../swervelib/math/SwerveDriveOdometry2.html#%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)" class="member-name-link">SwerveDriveOdometry2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwerveDriveOdometry2.html" title="class in swervelib.math">SwerveDriveOdometry2</a></dt>
<dd>
<div class="block">Constructs a SwerveDriveOdometry object.</div>
</dd>
<dt><a href="../swervelib/SwerveDrive.html#swerveDrivePoseEstimator" class="member-name-link">swerveDrivePoseEstimator</a> - Variable in class swervelib.<a href="../swervelib/SwerveDrive.html" title="class in swervelib">SwerveDrive</a></dt>
<dd>
<div class="block">Swerve odometry.</div>
@@ -645,6 +661,23 @@ loadScripts(document, 'script');</script>
<dd>
<div class="block">Construct a swerve parser.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Clone of <code>SwerveDrivePoseEstimator</code> which takes into account gyroscope pitch and roll to achieve a more
accurate estimation, originally made by Team 1466.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#%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)" class="member-name-link">SwervePoseEstimator2(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.html#%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(SwerveDriveKinematics, Rotation2d, SwerveModulePosition[], Pose2d, Matrix&lt;N3, N1&gt;, Matrix&lt;N3, N1&gt;)</a> - Constructor for class swervelib.math.<a href="../swervelib/math/SwervePoseEstimator2.html" title="class in swervelib.math">SwervePoseEstimator2</a></dt>
<dd>
<div class="block">Constructs a SwerveDrivePoseEstimator.</div>
</dd>
<dt><a href="../swervelib/math/SwervePoseEstimator2.InterpolationRecord.html" class="type-name-link" title="class in swervelib.math">SwervePoseEstimator2.InterpolationRecord</a> - Class in <a href="../swervelib/math/package-summary.html">swervelib.math</a></dt>
<dd>
<div class="block">Represents an odometry record.</div>
</dd>
<dt><a href="../swervelib/SwerveModule.html#synchronizeEncoderQueued" class="member-name-link">synchronizeEncoderQueued</a> - Variable in class swervelib.<a href="../swervelib/SwerveModule.html" title="class in swervelib">SwerveModule</a></dt>
<dd>
<div class="block">Encoder synchronization queued.</div>