Pioneer Robotics Documentation/pioneer.localization/Localizer

Localizer

interface Localizer : HardwareComponent

Inheritors

ThreeWheelOdometry

Properties

abstract val encoderXTicks: Int

abstract val encoderYTicks: Int

open val name: String

abstract var pose: Pose

Current pose of the robot

abstract var prevPose: Pose

Previous pose for numerical differentiation

Functions

abstract fun init()

open fun reset()

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

abstract fun reset(pose: Pose)

Resets the localizer to a specific pose

open fun update()

abstract fun update(dt: Double)

Updates the pose of the robot based on sensor data