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<!-- ======== START OF CLASS DATA ======== -->
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<div class="sub-title"><span class="package-label-in-type">Package</span> <a href="package-summary.html">swervelib.math</a></div>
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<h1 title="Class SwerveDriveOdometry2" class="title">Class SwerveDriveOdometry2</h1>
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</div>
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<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>
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<div class="inheritance">edu.wpi.first.math.kinematics.SwerveDriveOdometry
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<div class="inheritance">swervelib.math.SwerveDriveOdometry2</div>
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</div>
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</div>
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<section class="class-description" id="class-description">
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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">SwerveDriveOdometry2</span>
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<span class="extends-implements">extends edu.wpi.first.math.kinematics.SwerveDriveOdometry</span></div>
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<div class="block">Clone of <code>SwerveDriveOdometry</code> except uses gyro pitch and roll to achieve a more accurate estimation.
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Originally made by Team 1466.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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<!-- =========== 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 edu.wpi.first.math.geometry.Rotation2d</code></div>
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<div class="col-second even-row-color"><code><a href="#m_gyroOffset" class="member-name-link">m_gyroOffset</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Gyro offset.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveDriveKinematics</code></div>
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<div class="col-second odd-row-color"><code><a href="#m_kinematics" class="member-name-link">m_kinematics</a></code></div>
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<div class="col-last odd-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 even-row-color"><code>private final int</code></div>
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<div class="col-second even-row-color"><code><a href="#m_numModules" class="member-name-link">m_numModules</a></code></div>
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<div class="col-last even-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 odd-row-color"><code>private edu.wpi.first.math.geometry.Pose2d</code></div>
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<div class="col-second odd-row-color"><code><a href="#m_poseMeters" class="member-name-link">m_poseMeters</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Estimated pose.</div>
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</div>
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<div class="col-first even-row-color"><code>private edu.wpi.first.math.geometry.Rotation2d</code></div>
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<div class="col-second even-row-color"><code><a href="#m_previousAngle" class="member-name-link">m_previousAngle</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Previous gyroscope angle.</div>
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</div>
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<div class="col-first odd-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveModulePosition[]</code></div>
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<div class="col-second odd-row-color"><code><a href="#m_previousModulePositions" class="member-name-link">m_previousModulePositions</a></code></div>
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<div class="col-last odd-row-color">
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<div class="block">Previous swerve module positions.</div>
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</div>
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<div class="col-first even-row-color"><code>private final edu.wpi.first.math.kinematics.SwerveModuleState[]</code></div>
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<div class="col-second even-row-color"><code><a href="#m_zeroModuleStates" class="member-name-link">m_zeroModuleStates</a></code></div>
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<div class="col-last even-row-color">
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<div class="block">Zero module states.</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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<h2>Constructor Summary</h2>
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<div class="caption"><span>Constructors</span></div>
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<div class="summary-table two-column-summary">
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<div class="table-header col-first">Constructor</div>
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<div class="table-header col-last">Description</div>
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<div class="col-constructor-name even-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)" class="member-name-link">SwerveDriveOdometry2</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics,
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edu.wpi.first.math.geometry.Rotation2d gyroAngle,
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edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)</code></div>
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<div class="col-last even-row-color">
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<div class="block">Constructs a SwerveDriveOdometry object with the default pose at the origin.</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)" class="member-name-link">SwerveDriveOdometry2</a><wbr>(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics,
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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 initialPose)</code></div>
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<div class="col-last odd-row-color">
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<div class="block">Constructs a SwerveDriveOdometry object.</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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<!-- ========== METHOD SUMMARY =========== -->
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<li>
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<section class="method-summary" id="method-summary">
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<h2>Method Summary</h2>
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<div id="method-summary-table">
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<div class="table-tabs" role="tablist" aria-orientation="horizontal"><button id="method-summary-table-tab0" role="tab" aria-selected="true" aria-controls="method-summary-table.tabpanel" tabindex="0" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table', 3)" class="active-table-tab">All Methods</button><button id="method-summary-table-tab2" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab2', 3)" class="table-tab">Instance Methods</button><button id="method-summary-table-tab4" role="tab" aria-selected="false" aria-controls="method-summary-table.tabpanel" tabindex="-1" onkeydown="switchTab(event)" onclick="show('method-summary-table', 'method-summary-table-tab4', 3)" class="table-tab">Concrete Methods</button></div>
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<div id="method-summary-table.tabpanel" role="tabpanel">
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<div class="summary-table three-column-summary" aria-labelledby="method-summary-table-tab0">
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<div class="table-header col-first">Modifier and Type</div>
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<div class="table-header col-second">Method</div>
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<div class="table-header col-last">Description</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#getPoseMeters()" class="member-name-link">getPoseMeters</a>()</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Returns the position of the robot on the field.</div>
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</div>
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<div class="col-first odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>void</code></div>
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<div class="col-second odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D,edu.wpi.first.math.geometry.Pose2d)" class="member-name-link">resetPosition</a><wbr>(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 pose)</code></div>
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<div class="col-last odd-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Resets the robot's position on the field.</div>
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</div>
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<div class="col-first even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code>edu.wpi.first.math.geometry.Pose2d</code></div>
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<div class="col-second even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4"><code><a href="#update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition%5B%5D)" class="member-name-link">update</a><wbr>(edu.wpi.first.math.geometry.Rotation2d gyroYaw,
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edu.wpi.first.math.geometry.Rotation2d pitch,
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edu.wpi.first.math.geometry.Rotation2d roll,
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edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)</code></div>
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<div class="col-last even-row-color method-summary-table method-summary-table-tab2 method-summary-table-tab4">
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<div class="block">Updates the robot's position on the field using forward kinematics and integration of the pose over time.</div>
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</div>
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</div>
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</div>
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</div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-edu.wpi.first.math.kinematics.SwerveDriveOdometry">Methods inherited from class edu.wpi.first.math.kinematics.SwerveDriveOdometry</h3>
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<code>update</code></div>
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<div class="inherited-list">
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<h3 id="methods-inherited-from-class-java.lang.Object">Methods inherited from class 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>
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<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>
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</section>
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</li>
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</ul>
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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_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_previousModulePositions">
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<h3>m_previousModulePositions</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">edu.wpi.first.math.kinematics.SwerveModulePosition[]</span> <span class="element-name">m_previousModulePositions</span></div>
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<div class="block">Previous swerve module positions.</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_zeroModuleStates">
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<h3>m_zeroModuleStates</h3>
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<div class="member-signature"><span class="modifiers">private final</span> <span class="return-type">edu.wpi.first.math.kinematics.SwerveModuleState[]</span> <span class="element-name">m_zeroModuleStates</span></div>
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<div class="block">Zero module states.</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_poseMeters">
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<h3>m_poseMeters</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">edu.wpi.first.math.geometry.Pose2d</span> <span class="element-name">m_poseMeters</span></div>
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<div class="block">Estimated pose.</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_gyroOffset">
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<h3>m_gyroOffset</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span> <span class="element-name">m_gyroOffset</span></div>
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<div class="block">Gyro offset.</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_previousAngle">
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<h3>m_previousAngle</h3>
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<div class="member-signature"><span class="modifiers">private</span> <span class="return-type">edu.wpi.first.math.geometry.Rotation2d</span> <span class="element-name">m_previousAngle</span></div>
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<div class="block">Previous gyroscope angle.</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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<h2>Constructor Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="<init>(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d)">
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<h3>SwerveDriveOdometry2</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveDriveOdometry2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics,
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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 initialPose)</span></div>
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<div class="block">Constructs a SwerveDriveOdometry object.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>kinematics</code> - The swerve drive kinematics for your drivetrain.</dd>
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<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
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<dd><code>modulePositions</code> - The wheel positions reported by each module.</dd>
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<dd><code>initialPose</code> - The starting position of the robot on the field.</dd>
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</dl>
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</section>
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</li>
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<li>
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<section class="detail" id="<init>(edu.wpi.first.math.kinematics.SwerveDriveKinematics,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])">
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<h3>SwerveDriveOdometry2</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwerveDriveOdometry2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics,
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edu.wpi.first.math.geometry.Rotation2d gyroAngle,
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edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)</span></div>
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<div class="block">Constructs a SwerveDriveOdometry object with the default pose at the origin.</div>
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<dl class="notes">
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<dt>Parameters:</dt>
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<dd><code>kinematics</code> - The swerve drive kinematics for your drivetrain.</dd>
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<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
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<dd><code>modulePositions</code> - The wheel positions reported by each module.</dd>
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</dl>
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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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<!-- ============ METHOD DETAIL ========== -->
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<li>
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<section class="method-details" id="method-detail">
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<h2>Method Details</h2>
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<ul class="member-list">
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<li>
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<section class="detail" id="resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d)">
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<h3>resetPosition</h3>
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<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">void</span> <span class="element-name">resetPosition</span><wbr><span class="parameters">(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 pose)</span></div>
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<div class="block">Resets the robot's position on the field.
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<p>The gyroscope angle does not need to be reset here on the user's robot code. The library
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automatically takes care of offsetting the gyro angle.
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<p>Similarly, module positions do not need to be reset in user code.</div>
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<dl class="notes">
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|
<dt>Overrides:</dt>
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|
<dd><code>resetPosition</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveOdometry</code></dd>
|
|
<dt>Parameters:</dt>
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|
<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
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|
<dd><code>modulePositions</code> - The wheel positions reported by each module.,</dd>
|
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<dd><code>pose</code> - The position on the field that your robot is at.</dd>
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|
</dl>
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|
</section>
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|
</li>
|
|
<li>
|
|
<section class="detail" id="getPoseMeters()">
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|
<h3>getPoseMeters</h3>
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|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Pose2d</span> <span class="element-name">getPoseMeters</span>()</div>
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<div class="block">Returns the position of the robot on the field.</div>
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|
<dl class="notes">
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|
<dt>Overrides:</dt>
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|
<dd><code>getPoseMeters</code> in class <code>edu.wpi.first.math.kinematics.SwerveDriveOdometry</code></dd>
|
|
<dt>Returns:</dt>
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|
<dd>The pose of the robot (x and y are in meters).</dd>
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|
</dl>
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|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="update(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])">
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|
<h3>update</h3>
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|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Pose2d</span> <span class="element-name">update</span><wbr><span class="parameters">(edu.wpi.first.math.geometry.Rotation2d gyroYaw,
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|
edu.wpi.first.math.geometry.Rotation2d pitch,
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|
edu.wpi.first.math.geometry.Rotation2d roll,
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|
edu.wpi.first.math.kinematics.SwerveModulePosition[] 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>
|
|
<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>
|
|
<dt>Returns:</dt>
|
|
<dd>The new pose of the robot.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
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</ul>
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</section>
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|
</li>
|
|
</ul>
|
|
</section>
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<!-- ========= END OF CLASS DATA ========= -->
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</main>
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