Package frc.lib5k.spatial

Class LocalizationEngine

java.lang.Object

frc.lib5k.spatial.LocalizationEngine

public class LocalizationEngine
extends java.lang.Object

Method Summary

Modifier and Type	Method	Description
void	calculate(double leftMeters, double rightMeters, double heading)	Calculates the current robot location given some sensor readings.
static LocalizationEngine	getInstance()	Get the current LocalizationEngine instance
FieldPosition	getLocationObject()	Get a reference to the current FieldPosition object.
FieldPosition	getRobotPosition()	Get the robot's current field-relative position
Error2D	getRotatedError(FieldPosition goalPosition)	Get the rotated 2D error from the robot's current location to a goal position
void	setRobotPosition(FieldPosition position)	Force-set the robot location

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getInstance

public static LocalizationEngine getInstance()

Get the current LocalizationEngine instance

Returns:

calculate

public void calculate(double leftMeters,
                      double rightMeters,
                      double heading)

Calculates the current robot location given some sensor readings. This should be called at least once every 20ms

Parameters:

leftMeters - Total distance in meters traveled by the left side of the robot

rightMeters - Total distance in meters traveled by the right side of the robot

heading - The robot's current heading/angle

getRotatedError

public Error2D getRotatedError(FieldPosition goalPosition)

Get the rotated 2D error from the robot's current location to a goal position

Parameters:

goalPosition - Goal position (where the robot wants to be)

Returns:

Error from current position to goal

setRobotPosition

public void setRobotPosition(FieldPosition position)

Force-set the robot location

Parameters:

position - Robot position

getRobotPosition

public FieldPosition getRobotPosition()

Get the robot's current field-relative position

Returns:

A COPY of the current position object

getLocationObject

public FieldPosition getLocationObject()

Get a reference to the current FieldPosition object. This should only be used if you know what you are doing.

Returns:

Local object reference