mirror of
https://github.com/wpilibsuite/allwpilib
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49 lines
2.3 KiB
YAML
49 lines
2.3 KiB
YAML
defaults:
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subpackage: estimator
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classes:
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wpi::math::DifferentialDrivePoseEstimator:
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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 differential drive encoder measurements. It will
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correct for noisy vision measurements and encoder drift. It is intended to be
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an easy drop-in for :class:`DifferentialDriveOdometry`. In fact, if you never call
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:meth:`addVisionMeasurement`, and only call :meth:`update`, this will behave exactly the
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same as DifferentialDriveOdometry.
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:meth:`update` should be called every robot loop (if your robot loops are faster or
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slower than the default, then you should change the nominal delta time via
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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 like regular encoder 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, dist_l, dist_r]^T` in the field coordinate
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system containing x position, y position, heading, left encoder distance,
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and right encoder distance.
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:math:`u = [v_l, v_r, d\theta]^T` containing left wheel velocity,
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right wheel velocity, and change in gyro heading.
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NB: Using velocities make things considerably easier, because it means that
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teams don't have to worry about getting an accurate model. Basically, we
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suspect that it's easier for teams to get good encoder data than it is for
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them to perform system identification well enough to get a good model.
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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 = [dist_l, dist_r, \theta]^T`
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containing left encoder position, right encoder position, and gyro heading.
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methods:
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DifferentialDrivePoseEstimator:
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overloads:
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DifferentialDriveKinematics&, const Rotation2d&, wpi::units::meter_t, wpi::units::meter_t, const Pose2d&:
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? DifferentialDriveKinematics&, const Rotation2d&, wpi::units::meter_t, wpi::units::meter_t, const Pose2d&, const wpi::util::array<double, 3>&, const wpi::util::array<double, 3>&
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:
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ResetPosition:
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Update:
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UpdateWithTime:
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