WPILibC++  2020.3.2-60-g3011ebe
frc::SwerveDriveOdometry< NumModules > Class Template Reference

Class for swerve drive odometry. More...

#include <SwerveDriveOdometry.h>

## Public Member Functions

SwerveDriveOdometry (SwerveDriveKinematics< NumModules > kinematics, const Rotation2d &gyroAngle, const Pose2d &initialPose=Pose2d())
Constructs a SwerveDriveOdometry object. More...

void ResetPosition (const Pose2d &pose, const Rotation2d &gyroAngle)
Resets the robot's position on the field. More...

const Pose2dGetPose () const
Returns the position of the robot on the field. More...

template<typename... ModuleStates>
const Pose2dUpdateWithTime (units::second_t currentTime, const Rotation2d &gyroAngle, ModuleStates &&... moduleStates)
Updates the robot's position on the field using forward kinematics and integration of the pose over time. More...

template<typename... ModuleStates>
const Pose2dUpdate (const Rotation2d &gyroAngle, ModuleStates &&... moduleStates)
Updates the robot's position on the field using forward kinematics and integration of the pose over time. More...

## Detailed Description

### template<size_t NumModules> class frc::SwerveDriveOdometry< NumModules >

Class for swerve drive odometry.

Odometry allows you to track the robot's position on the field over a course of a match using readings from your swerve drive encoders and swerve azimuth encoders.

Teams can use odometry during the autonomous period for complex tasks like path following. Furthermore, odometry can be used for latency compensation when using computer-vision systems.

## ◆ SwerveDriveOdometry()

template<size_t NumModules>
 frc::SwerveDriveOdometry< NumModules >::SwerveDriveOdometry ( SwerveDriveKinematics< NumModules > kinematics, const Rotation2d & gyroAngle, const Pose2d & initialPose = Pose2d() )

Constructs a SwerveDriveOdometry object.

Parameters
 kinematics The swerve drive kinematics for your drivetrain. gyroAngle The angle reported by the gyroscope. initialPose The starting position of the robot on the field.

## ◆ GetPose()

template<size_t NumModules>
 const Pose2d& frc::SwerveDriveOdometry< NumModules >::GetPose ( ) const
inline

Returns the position of the robot on the field.

Returns
The pose of the robot.

## ◆ ResetPosition()

template<size_t NumModules>
 void frc::SwerveDriveOdometry< NumModules >::ResetPosition ( const Pose2d & pose, const Rotation2d & gyroAngle )
inline

Resets the robot's position on the field.

The gyroscope angle does not need to be reset here on the user's robot code. The library automatically takes care of offsetting the gyro angle.

Parameters
 pose The position on the field that your robot is at. gyroAngle The angle reported by the gyroscope.

## ◆ Update()

template<size_t NumModules>
template<typename... ModuleStates>
 const Pose2d& frc::SwerveDriveOdometry< NumModules >::Update ( const Rotation2d & gyroAngle, ModuleStates &&... moduleStates )
inline

Updates the robot's position on the field using forward kinematics and integration of the pose over time.

This method automatically calculates the current time to calculate period (difference between two timestamps). The period is used to calculate the change in distance from a velocity. This also takes in an angle parameter which is used instead of the angular rate that is calculated from forward kinematics.

Parameters
 gyroAngle The angle reported by the gyroscope. moduleStates The current state of all swerve modules. Please provide the states in the same order in which you instantiated your SwerveDriveKinematics.
Returns
The new pose of the robot.

## ◆ UpdateWithTime()

template<size_t NumModules>
template<typename... ModuleStates>
 const Pose2d & frc::SwerveDriveOdometry< NumModules >::UpdateWithTime ( units::second_t currentTime, const Rotation2d & gyroAngle, ModuleStates &&... moduleStates )

Updates the robot's position on the field using forward kinematics and integration of the pose over time.

This method takes in the current time as a parameter to calculate period (difference between two timestamps). The period is used to calculate the change in distance from a velocity. This also takes in an angle parameter which is used instead of the angular rate that is calculated from forward kinematics.

Parameters
 currentTime The current time. gyroAngle The angle reported by the gyroscope. moduleStates The current state of all swerve modules. Please provide the states in the same order in which you instantiated your SwerveDriveKinematics.
Returns
The new pose of the robot.

The documentation for this class was generated from the following files:
• /__w/1/s/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
• /__w/1/s/wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.inc