BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.localization.accumulators/CustomAccumulator

CustomAccumulator

abstract class CustomAccumulator : Accumulator

An accumulator that is defined by the user.

Custom accumulators can be used to combine accumulator readings, or to provide custom logic for the accumulation of pose estimates.

Author

Lucas Bubner, 2024

Since

6.0.0

See also

Constructors

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constructor()

Properties

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@NonNull
open var registeredAccumulators: List<Accumulator>
A read-only list of all accumulators registered in this CustomAccumulator.

Inherited properties

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open var MAX_POSE_HISTORY: Int
The maximum pose history length that should be stored in an accumulator.
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@NonNull
protected open var pose: Pose2d
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@get:NonNull
open val poseHistory: LinkedList<Pose2d>
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@NonNull
protected open var velocity: PoseVelocity2d

Functions

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abstract fun accumulate(@NonNull twist: Twist2dDual<Time>)
Run one accumulation of this accumulator to update the pose with this delta.
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open fun internalAccumulate(@NonNull twist: Twist2dDual<Time>)
Run one accumulation of the underlying accumulator to update the pose with this delta.
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open fun register(@NonNull accumulators: Array<Accumulator>)
Register accumulators that are used internally by this custom accumulator.

Inherited functions

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fun copyTo(@NonNull other: Accumulator)
Copy the state of this accumulator to another accumulator.
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@NonNull
fun getPose(): Pose2d
Calculate the accumulated pose from an internal localizer.
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@NonNull
fun getVelocity(): PoseVelocity2d
Calculate the first derivative of the accumulated pose from an internal localizer.
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open fun setPose(@NonNull vector: Vector2d, @NonNull vectorUnit: Distance, heading: Double, @NonNull headingUnit: Angle)
fun setPose(@NonNull newPose: Pose2d)
Reset the accumulated pose estimate to this pose.