mirror of
https://github.com/wpilibsuite/allwpilib
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39 lines
1.7 KiB
YAML
39 lines
1.7 KiB
YAML
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defaults:
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subpackage: estimator
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classes:
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frc::MecanumDrivePoseEstimator:
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force_no_trampoline: true
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doc: |
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This class wraps an Unscented Kalman Filter to fuse latency-compensated
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vision measurements with mecanum drive encoder velocity measurements. It will
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correct for noisy measurements and encoder drift. It is intended to be an
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easy but more accurate drop-in for :class:`MecanumDriveOdometry`.
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:meth:`update` should be called every robot loop. If your loops are faster or
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slower than the default of 0.02s, then you should change the nominal delta
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time by specifying it in the constructor.
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:meth:`addVisionMeasurement` can be called as infrequently as you want; if you
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never call it, then this class will behave mostly like regular encoder
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odometry.
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The state-space system used internally has the following states (x), inputs
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(u), and outputs (y):
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:math:`x = [x, y, \theta]^T` in the field-coordinate system
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containing x position, y position, and heading.
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:math:`u = [v_x, v_y, \omega]^T` containing x velocity, y velocity,
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and angular velocity in the field-coordinate system.
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:math:`y = [x, y, \theta]^T` from vision containing x position, y
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position, and heading; or :math:`y = [theta]^T` containing gyro
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heading.
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methods:
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MecanumDrivePoseEstimator:
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overloads:
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MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&:
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? MecanumDriveKinematics&, const Rotation2d&, const MecanumDriveWheelPositions&, const Pose2d&, const wpi::array<double, 3>&, const wpi::array<double, 3>&
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:
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