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<title>SwervePoseEstimator2</title>
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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><a href="#constructor-summary">Constr</a> | </li>
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<li>Detail: </li>
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<li><a href="#field-detail">Field</a> | </li>
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<!-- ======== START OF CLASS DATA ======== -->
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<div class="header">
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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 SwervePoseEstimator2" class="title">Class SwervePoseEstimator2</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">swervelib.math.SwervePoseEstimator2</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">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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</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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<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,edu.wpi.first.math.geometry.Pose2d)" 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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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>
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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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edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions,
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edu.wpi.first.math.geometry.Pose2d initialPoseMeters,
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edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> stateStdDevs,
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edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</code></div>
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<div class="col-last odd-row-color">
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<div class="block">Constructs a SwerveDrivePoseEstimator.</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>void</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="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters,
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double timestampSeconds)</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">Adds a vision measurement to the Kalman Filter.</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="#addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)" class="member-name-link">addVisionMeasurement</a><wbr>(edu.wpi.first.math.geometry.Pose2d visionRobotPoseMeters,
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double timestampSeconds,
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edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</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">Adds a vision measurement to the Kalman Filter.</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="#getEstimatedPosition()" class="member-name-link">getEstimatedPosition</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">Gets the estimated robot pose.</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 poseMeters)</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>void</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="#setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)" class="member-name-link">setVisionMeasurementStdDevs</a><wbr>(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</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">Sets the pose estimator's trust of global measurements.</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>edu.wpi.first.math.geometry.Pose2d</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="#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 gyroAngle,
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edu.wpi.first.math.geometry.Rotation2d gyroPitch,
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edu.wpi.first.math.geometry.Rotation2d gyroRoll,
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edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions)</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">Updates the pose estimator with wheel encoder and gyro information.</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="#updateWithTime(double,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">updateWithTime</a><wbr>(double currentTimeSeconds,
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edu.wpi.first.math.geometry.Rotation2d gyroAngle,
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edu.wpi.first.math.geometry.Rotation2d gyroPitch,
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edu.wpi.first.math.geometry.Rotation2d gyroRoll,
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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 pose estimator with wheel encoder and gyro information.</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-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_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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<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>SwervePoseEstimator2</h3>
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|
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwervePoseEstimator2</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 initialPoseMeters)</span></div>
|
|
<div class="block">Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.
|
|
|
|
<p>The default standard deviations of the model states are 0.1 meters for x, 0.1 meters for y,
|
|
and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9 meters for x, 0.9
|
|
meters for y, and 0.9 radians for heading.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>kinematics</code> - A correctly-configured kinematics object for your drivetrain.</dd>
|
|
<dd><code>gyroAngle</code> - The current gyro angle.</dd>
|
|
<dd><code>modulePositions</code> - The current distance measurements and rotations of the swerve modules.</dd>
|
|
<dd><code>initialPoseMeters</code> - The starting pose estimate.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<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,edu.wpi.first.math.Matrix,edu.wpi.first.math.Matrix)">
|
|
<h3>SwervePoseEstimator2</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="element-name">SwervePoseEstimator2</span><wbr><span class="parameters">(edu.wpi.first.math.kinematics.SwerveDriveKinematics kinematics,
|
|
edu.wpi.first.math.geometry.Rotation2d gyroAngle,
|
|
edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions,
|
|
edu.wpi.first.math.geometry.Pose2d initialPoseMeters,
|
|
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> stateStdDevs,
|
|
edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,<wbr>edu.wpi.first.math.numbers.N1> visionMeasurementStdDevs)</span></div>
|
|
<div class="block">Constructs a SwerveDrivePoseEstimator.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>kinematics</code> - A correctly-configured kinematics object for your drivetrain.</dd>
|
|
<dd><code>gyroAngle</code> - The current gyro angle.</dd>
|
|
<dd><code>modulePositions</code> - The current distance and rotation measurements of the swerve modules.</dd>
|
|
<dd><code>initialPoseMeters</code> - The starting pose estimate.</dd>
|
|
<dd><code>stateStdDevs</code> - Standard deviations of the pose estimate (x position in meters, y position in
|
|
meters, and heading in radians). Increase these numbers to trust your state
|
|
estimate less.</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>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
<!-- ============ METHOD DETAIL ========== -->
|
|
<li>
|
|
<section class="method-details" id="method-detail">
|
|
<h2>Method Details</h2>
|
|
<ul class="member-list">
|
|
<li>
|
|
<section class="detail" id="setVisionMeasurementStdDevs(edu.wpi.first.math.Matrix)">
|
|
<h3>setVisionMeasurementStdDevs</h3>
|
|
<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>
|
|
<div class="block">Sets the pose estimator's trust of global measurements. This might be used to change trust in vision measurements
|
|
after the autonomous period, or to change trust as distance to a vision target increases.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>visionMeasurementStdDevs</code> - Standard deviations of the vision measurements. Increase these numbers to trust
|
|
global measurements from vision less. This matrix is in the form [x, y, theta]áµ€,
|
|
with units in meters and radians.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="resetPosition(edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[],edu.wpi.first.math.geometry.Pose2d)">
|
|
<h3>resetPosition</h3>
|
|
<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,
|
|
edu.wpi.first.math.kinematics.SwerveModulePosition[] modulePositions,
|
|
edu.wpi.first.math.geometry.Pose2d poseMeters)</span></div>
|
|
<div class="block">Resets the robot's position on the field.
|
|
|
|
<p>The gyroscope angle does not need to be reset in the user's robot code. The library
|
|
automatically takes care of offsetting the gyro angle.</div>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>gyroAngle</code> - The angle reported by the gyroscope.</dd>
|
|
<dd><code>modulePositions</code> - The current distance measurements and rotations of the swerve modules.</dd>
|
|
<dd><code>poseMeters</code> - The position on the field that your robot is at.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="getEstimatedPosition()">
|
|
<h3>getEstimatedPosition</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Pose2d</span> <span class="element-name">getEstimatedPosition</span>()</div>
|
|
<div class="block">Gets the estimated robot pose.</div>
|
|
<dl class="notes">
|
|
<dt>Returns:</dt>
|
|
<dd>The estimated robot pose in meters.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double)">
|
|
<h3>addVisionMeasurement</h3>
|
|
<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)</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.
|
|
|
|
<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>
|
|
<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 or sync
|
|
the epochs.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="addVisionMeasurement(edu.wpi.first.math.geometry.Pose2d,double,edu.wpi.first.math.Matrix)">
|
|
<h3>addVisionMeasurement</h3>
|
|
<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.
|
|
|
|
<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.
|
|
|
|
<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>
|
|
<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>
|
|
</dl>
|
|
</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[])">
|
|
<h3>update</h3>
|
|
<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 gyroAngle,
|
|
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>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>gyroAngle</code> - The current gyro angle.</dd>
|
|
<dd><code>gyroPitch</code> - The current gyro pitch.</dd>
|
|
<dd><code>gyroRoll</code> - The current gyro roll.</dd>
|
|
<dd><code>modulePositions</code> - The current distance measurements and rotations of the swerve modules.</dd>
|
|
<dt>Returns:</dt>
|
|
<dd>The estimated pose of the robot in meters.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
<li>
|
|
<section class="detail" id="updateWithTime(double,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.geometry.Rotation2d,edu.wpi.first.math.kinematics.SwerveModulePosition[])">
|
|
<h3>updateWithTime</h3>
|
|
<div class="member-signature"><span class="modifiers">public</span> <span class="return-type">edu.wpi.first.math.geometry.Pose2d</span> <span class="element-name">updateWithTime</span><wbr><span class="parameters">(double currentTimeSeconds,
|
|
edu.wpi.first.math.geometry.Rotation2d gyroAngle,
|
|
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>
|
|
<dl class="notes">
|
|
<dt>Parameters:</dt>
|
|
<dd><code>currentTimeSeconds</code> - Time at which this method was called, in seconds.</dd>
|
|
<dd><code>gyroAngle</code> - The current gyro angle.</dd>
|
|
<dd><code>gyroPitch</code> - The current gyro pitch.</dd>
|
|
<dd><code>gyroRoll</code> - The current gyro roll.</dd>
|
|
<dd><code>modulePositions</code> - The current distance measurements and rotations of the swerve modules.</dd>
|
|
<dt>Returns:</dt>
|
|
<dd>The estimated pose of the robot in meters.</dd>
|
|
</dl>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<!-- ========= END OF CLASS DATA ========= -->
|
|
</main>
|
|
</div>
|
|
</div>
|
|
</body>
|
|
</html>
|