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ce4c45df13
Forcing the use of SwerveModulePostition[] and wpi::array<SwerveModulePosition, len> in place of variadic function signatures.
101 lines
3.4 KiB
C++
101 lines
3.4 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 <chrono>
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#include <cstddef>
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#include <ctime>
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#include <wpi/SymbolExports.h>
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#include <wpi/timestamp.h>
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#include "SwerveDriveKinematics.h"
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#include "SwerveModulePosition.h"
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#include "frc/geometry/Pose2d.h"
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#include "units/time.h"
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namespace frc {
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/**
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* Class for swerve drive odometry. Odometry allows you to track the robot's
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* position on the field over a course of a match using readings from your
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* swerve drive encoders and swerve azimuth encoders.
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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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template <size_t NumModules>
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class SwerveDriveOdometry {
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public:
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/**
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* Constructs a SwerveDriveOdometry object.
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*
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* @param kinematics The swerve drive kinematics for your drivetrain.
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* @param gyroAngle The angle reported by the gyroscope.
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* @param modulePositions The wheel positions reported by each module.
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* @param initialPose The starting position of the robot on the field.
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*/
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SwerveDriveOdometry(
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SwerveDriveKinematics<NumModules> kinematics, const Rotation2d& gyroAngle,
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const wpi::array<SwerveModulePosition, NumModules> modulePositions,
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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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* 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 modulePositions The wheel positions reported by each module.
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*/
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void ResetPosition(
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const Pose2d& pose, const Rotation2d& gyroAngle,
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const wpi::array<SwerveModulePosition, NumModules> modulePositions);
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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's position on the field using forward kinematics and
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* integration of the pose over time. This method takes in the current time as
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* a parameter to calculate period (difference between two timestamps). The
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* period is used to calculate the change in distance from a velocity. This
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* also takes in an angle parameter which is used instead of the
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* angular rate that is calculated from forward kinematics.
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*
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* @param gyroAngle The angle reported by the gyroscope.
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* @param modulePositions The current position of all swerve modules. Please
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* provide the positions in the same order in which you instantiated your
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* SwerveDriveKinematics.
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*
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* @return The new pose of the robot.
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*/
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const Pose2d& Update(
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const Rotation2d& gyroAngle,
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const wpi::array<SwerveModulePosition, NumModules> modulePositions);
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private:
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SwerveDriveKinematics<NumModules> m_kinematics;
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Pose2d m_pose;
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Rotation2d m_previousAngle;
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Rotation2d m_gyroOffset;
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wpi::array<SwerveModulePosition, NumModules> m_previousModulePositions;
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};
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extern template class EXPORT_TEMPLATE_DECLARE(WPILIB_DLLEXPORT)
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SwerveDriveOdometry<4>;
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} // namespace frc
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#include "SwerveDriveOdometry.inc"
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