public class Field2d extends Object implements NTSendable
An object's pose is the location shown on the dashboard view. Note that for the robot, this may or may not match the internal odometry. For example, the robot is shown at a particular starting location, the pose in this class would represent the actual location on the field, but the robot's internal state might have a 0,0,0 pose (unless it's initialized to something different).
As the user is able to edit the pose, code performing updates should get the robot pose, transform it as appropriate (e.g. based on wheel odometry), and set the new pose.
This class provides methods to set the robot pose, but other objects can also be shown by using the getObject() function. Other objects can also have multiple poses (which will show the object at multiple locations).
Constructors Constructor Description
Modifier and Type Method Description
getObject(String name)Get or create a field object.
getRobotObject()Get the robot object.
getRobotPose()Get the robot pose.
initSendable(NTSendableBuilder builder)Initializes this
setRobotPose(double xMeters, double yMeters, Rotation2d rotation)Set the robot pose from x, y, and rotation.
setRobotPose(Pose2d pose)Set the robot pose from a Pose object.
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
Set the robot pose from a Pose object.
pose- 2D pose
Set the robot pose from x, y, and rotation.
xMeters- X location, in meters
yMeters- Y location, in meters
Get the robot pose.
- 2D pose
Get or create a field object.
name- The field object's name.
- Field object
Get the robot object.
- Field object for robot
Description copied from interface: