ctre::phoenix6::swerve::impl::SwerveDriveOdometry Class Reference

Class for swerve drive odometry. More...

#include <ctre/phoenix6/swerve/impl/SwerveDrivePoseEstimator.hpp>

Public Types
using	WheelSpeeds = std::vector<SwerveModuleState>
using	WheelPositions = std::vector<SwerveModulePosition>

Public Member Functions
	SwerveDriveOdometry (SwerveDriveKinematics const &kinematics, Rotation2d const &gyroAngle, WheelPositions modulePositions, Pose2d initialPose=Pose2d{})
	Constructs a SwerveDriveOdometry object.
void	ResetPosition (Rotation2d const &gyroAngle, WheelPositions wheelPositions, Pose2d const &pose)
	Resets the robot's position on the field.
void	ResetPose (Pose2d const &pose)
	Resets the pose.
void	ResetTranslation (Translation2d const &translation)
	Resets the translation of the pose.
void	ResetRotation (Rotation2d const &rotation)
	Resets the rotation of the pose.
Pose2d const &	Pose () const
	Returns the position of the robot on the field.
Pose2d const &	Update (Rotation2d const &gyroAngle, WheelPositions wheelPositions)
	Updates the robot's position on the field using forward kinematics and integration of the pose over time.

Detailed Description

Class for swerve drive odometry.

Odometry allows you to track the robot's position on the field over a course of a match using readings from your swerve drive encoders and swerve azimuth encoders.

Teams can use odometry during the autonomous period for complex tasks like path following. Furthermore, odometry can be used for latency compensation when using computer-vision systems.

Member Typedef Documentation

WheelPositions

using ctre::phoenix6::swerve::impl::SwerveDriveOdometry::WheelPositions = std::vector<SwerveModulePosition>

WheelSpeeds

using ctre::phoenix6::swerve::impl::SwerveDriveOdometry::WheelSpeeds = std::vector<SwerveModuleState>

Constructor & Destructor Documentation

SwerveDriveOdometry()

ctre::phoenix6::swerve::impl::SwerveDriveOdometry::SwerveDriveOdometry ( SwerveDriveKinematics const & kinematics, Rotation2d const & gyroAngle, WheelPositions modulePositions, Pose2d initialPose = Pose2d{} )

inline

Constructs a SwerveDriveOdometry object.

Parameters

kinematics	The swerve drive kinematics for your drivetrain.
gyroAngle	The angle reported by the gyroscope.
modulePositions	The wheel positions reported by each module.
initialPose	The starting position of the robot on the field.

Member Function Documentation

Pose()

Pose2d const & ctre::phoenix6::swerve::impl::SwerveDriveOdometry::Pose ( ) const

inline

Returns the position of the robot on the field.

Returns

The pose of the robot.

ResetPose()

void ctre::phoenix6::swerve::impl::SwerveDriveOdometry::ResetPose ( Pose2d const & pose )

inline

Resets the pose.

Parameters

pose	The pose to reset to.

ResetPosition()

void ctre::phoenix6::swerve::impl::SwerveDriveOdometry::ResetPosition ( Rotation2d const & gyroAngle, WheelPositions wheelPositions, Pose2d const & pose )

inline

Resets the robot's position on the field.

The gyroscope angle does not need to be reset here on the user's robot code. The library automatically takes care of offsetting the gyro angle.

Parameters

gyroAngle	The angle reported by the gyroscope.
wheelPositions	The current distances measured by each wheel.
pose	The position on the field that your robot is at.

ResetRotation()

void ctre::phoenix6::swerve::impl::SwerveDriveOdometry::ResetRotation ( Rotation2d const & rotation )

inline

Resets the rotation of the pose.

Parameters

rotation

The rotation to reset to.

ResetTranslation()

void ctre::phoenix6::swerve::impl::SwerveDriveOdometry::ResetTranslation ( Translation2d const & translation )

inline

Resets the translation of the pose.

Parameters

translation

The translation to reset to.

Update()

Pose2d const & ctre::phoenix6::swerve::impl::SwerveDriveOdometry::Update	(	Rotation2d const &	gyroAngle,
		WheelPositions	wheelPositions )

Updates the robot's position on the field using forward kinematics and integration of the pose over time.

This method takes in an angle parameter which is used instead of the angular rate that is calculated from forward kinematics, in addition to the current distance measurement at each wheel.

Parameters

gyroAngle	The angle reported by the gyroscope.
wheelPositions	The current distances measured by each wheel.

Returns

The new pose of the robot.

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The documentation for this class was generated from the following file:

• ctre/phoenix6/swerve/impl/SwerveDrivePoseEstimator.hpp