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

PeriodicIMUAccumulator

open class PeriodicIMUAccumulator : Accumulator

Accumulator that periodically updates the heading field of the pose estimate to the reading of an IMU. Useful for three-wheel odometry, reducing I2C calls while maintaining accuracy.

Author

Lucas Bubner, 2024

Since

6.0.0

Constructors

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constructor(@Nullable imu: IMU, @NonNull relocalizationInterval: Measure<Time>)
Create a new PeriodicIMUAccumulator.

Inherited properties

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open var FLIGHT_RECORDER_INTERVAL_MS: Long
The minimum interval at which to auto-log all pose and drive command data to the FlightRecorder.
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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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open 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 setOrigin(@NonNull origin: Measure<Angle>)
Sets the angle origin to use.

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.