BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.localization/OTOSLocalizer/Params/Builder

Builder

open class Builder

Utility builder for the OTOS parameters.

Constructors

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constructor()

Functions

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@NonNull
open fun build(): OTOSLocalizer.Params
Build the parameters.
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open fun setAngularOffset(ccwOffset: Measure<Angle>): OTOSLocalizer.Params.Builder
Specifies the rotational component for the sensor offset relative to the center of the robot.
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@NonNull
open fun setAngularScalar(angularScalar: Double): OTOSLocalizer.Params.Builder
Set the compensation factor for angular scaling.
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open fun setForwardOffset(forwardOffset: Measure<Distance>): OTOSLocalizer.Params.Builder
Specifies the forward component for the sensor offset relative to the center of the robot.
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open fun setLeftOffset(leftOffset: Measure<Distance>): OTOSLocalizer.Params.Builder
Specifies the strafe component for the sensor offset relative to the center of the robot.
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@NonNull
open fun setLinearScalar(linearScalar: Double): OTOSLocalizer.Params.Builder
Set the compensation factor for linear scaling.
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@NonNull
open fun setMeasuredAngularScalar(@NonNull angleRotated: Measure<Angle>, @NonNull reportedRotation: Measure<Angle>): OTOSLocalizer.Params.Builder
Set the compensation factor for angular scaling as a result of a tuning session based on measured vs reported turns.
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@NonNull
open fun setMeasuredLinearScalar(@NonNull realDistance: Measure<Distance>, @NonNull reportedDistance: Measure<Distance>): OTOSLocalizer.Params.Builder
Set the compensation factor for linear scaling as a result of a tuning session based on measured vs reported distance.
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open fun setOffset(offset: SparkFunOTOS.Pose2D): OTOSLocalizer.Params.Builder
Specifies an offset for the sensor relative to the center of the robot.