Pioneer Robotics Documentation/pioneer.localization.localizers/ThreeWheelOdometry

ThreeWheelOdometry

class ThreeWheelOdometry(hardwareMap: HardwareMap, startPose: Pose = Pose(), leftName: String = "odoLeft", rightName: String = "odoRight", centerName: String = "odoCenter", ticksPerRev: Double = 2000.0, wheelDiameterCM: Double = 4.8, trackWidthCM: Double = 26.5, forwardOffsetCM: Double = 15.1) : Localizer

Three-wheel odometry localizer using two parallel and one perpendicular tracking wheel.

Constructors

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constructor(hardwareMap: HardwareMap, startPose: Pose = Pose(), leftName: String = "odoLeft", rightName: String = "odoRight", centerName: String = "odoCenter", ticksPerRev: Double = 2000.0, wheelDiameterCM: Double = 4.8, trackWidthCM: Double = 26.5, forwardOffsetCM: Double = 15.1)

Properties

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open override val encoderXTicks: Int
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open override val encoderYTicks: Int
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open override val name: String
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open lateinit override var pose: Pose

Current pose of the robot

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open lateinit override var prevPose: Pose

Previous pose for numerical differentiation

Functions

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open override fun init()
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open fun reset()

Resets the localizer to the origin (0, 0, 0)

open override fun reset(pose: Pose)

Resets the localizer to a specific pose

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open fun update()

open override fun update(dt: Double)

Updates the pose of the robot based on sensor data

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