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e22d8cc343
This effectively replaces the Unscented Kalman Filter used for Pose Estimation with the Odometry model, and uses a recalculable Kalman gain matrix to update pose estimations whenever a vision measurement is added. Notably, this change removes the need for the confusing generics used in Java, and the C++ implementation got quite a bit less complex as well. Co-authored-by: Tyler Veness <calcmogul@gmail.com>
97 lines
3.5 KiB
C++
97 lines
3.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/SymbolExports.h>
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#include "frc/geometry/Pose2d.h"
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#include "units/length.h"
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namespace frc {
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/**
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* Class for differential drive odometry. Odometry allows you to track the
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* robot's position on the field over the course of a match using readings from
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* 2 encoders and a gyroscope.
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*
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* Teams can use odometry during the autonomous period for complex tasks like
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* path following. Furthermore, odometry can be used for latency compensation
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* when using computer-vision systems.
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*
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* It is important that you reset your encoders to zero before using this class.
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* Any subsequent pose resets also require the encoders to be reset to zero.
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*/
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class WPILIB_DLLEXPORT DifferentialDriveOdometry {
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public:
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/**
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* Constructs a DifferentialDriveOdometry object.
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*
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* IF leftDistance and rightDistance are unspecified,
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* You NEED to reset your encoders (to zero).
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*
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* @param gyroAngle The angle reported by the gyroscope.
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* @param leftDistance The distance traveled by the left encoder.
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* @param rightDistance The distance traveled by the right encoder.
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* @param initialPose The starting position of the robot on the field.
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*/
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explicit DifferentialDriveOdometry(const Rotation2d& gyroAngle,
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units::meter_t leftDistance,
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units::meter_t rightDistance,
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const Pose2d& initialPose = Pose2d{});
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/**
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* Resets the robot's position on the field.
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*
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* IF leftDistance and rightDistance are unspecified,
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* You NEED to reset your encoders (to zero).
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*
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* The gyroscope angle does not need to be reset here on the user's robot
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* code. The library automatically takes care of offsetting the gyro angle.
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*
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* @param pose The position on the field that your robot is at.
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* @param gyroAngle The angle reported by the gyroscope.
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* @param leftDistance The distance traveled by the left encoder.
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* @param rightDistance The distance traveled by the right encoder.
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*/
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void ResetPosition(const Rotation2d& gyroAngle, units::meter_t leftDistance,
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units::meter_t rightDistance, const Pose2d& pose) {
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m_pose = pose;
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m_previousAngle = pose.Rotation();
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m_gyroOffset = m_pose.Rotation() - gyroAngle;
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m_prevLeftDistance = leftDistance;
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m_prevRightDistance = rightDistance;
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}
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/**
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* Returns the position of the robot on the field.
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* @return The pose of the robot.
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*/
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const Pose2d& GetPose() const { return m_pose; }
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/**
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* Updates the robot position on the field using distance measurements from
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* encoders. This method is more numerically accurate than using velocities to
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* integrate the pose and is also advantageous for teams that are using lower
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* CPR encoders.
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*
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* @param gyroAngle The angle reported by the gyroscope.
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* @param leftDistance The distance traveled by the left encoder.
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* @param rightDistance The distance traveled by the right encoder.
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* @return The new pose of the robot.
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*/
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const Pose2d& Update(const Rotation2d& gyroAngle, units::meter_t leftDistance,
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units::meter_t rightDistance);
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private:
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Pose2d m_pose;
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Rotation2d m_gyroOffset;
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Rotation2d m_previousAngle;
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units::meter_t m_prevLeftDistance = 0_m;
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units::meter_t m_prevRightDistance = 0_m;
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};
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} // namespace frc
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