This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements. More...

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

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

using	WheelPositions = std::vector<SwerveModulePosition>

Public Member Functions
	SwerveDrivePoseEstimator (SwerveDriveKinematics const &kinematics, Rotation2d const &gyroAngle, WheelPositions modulePositions, Pose2d initialPose)
	Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.

	SwerveDrivePoseEstimator (SwerveDriveKinematics const &kinematics, Rotation2d const &gyroAngle, WheelPositions modulePositions, Pose2d initialPose, std::array< double, 3 > const &stateStdDevs, std::array< double, 3 > const &visionMeasurementStdDevs)
	Constructs a SwerveDrivePoseEstimator.

	~SwerveDrivePoseEstimator ()

void	SetVisionMeasurementStdDevs (std::array< double, 3 > const &visionMeasurementStdDevs)
	Sets the pose estimator's trust in vision measurements.

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 robot's pose.

void	ResetTranslation (Translation2d const &translation)
	Resets the robot's translation.

void	ResetRotation (Rotation2d const &rotation)
	Resets the robot's rotation.

Pose2d	GetEstimatedPosition () const
	Gets the estimated robot pose.

std::optional< Pose2d >	SampleAt (units::second_t timestamp) const
	Return the pose at a given timestamp, if the buffer is not empty.

void	AddVisionMeasurement (Pose2d const &visionRobotPose, units::second_t timestamp)
	Adds a vision measurement to the Kalman Filter.

void	AddVisionMeasurement (Pose2d const &visionRobotPose, units::second_t timestamp, std::array< double, 3 > const &visionMeasurementStdDevs)
	Adds a vision measurement to the Kalman Filter.

Pose2d	Update (Rotation2d const &gyroAngle, WheelPositions const &wheelPositions)
	Updates the pose estimator with wheel encoder and gyro information.

Pose2d	UpdateWithTime (units::second_t currentTime, Rotation2d const &gyroAngle, WheelPositions const &wheelPositions)
	Updates the pose estimator with wheel encoder and gyro information.

Detailed Description

This class wraps Swerve Drive Odometry to fuse latency-compensated vision measurements with swerve drive encoder distance measurements.

It is intended to be a drop-in for SwerveDriveOdometry.

Update() should be called every robot loop.

AddVisionMeasurement() can be called as infrequently as you want; if you never call it, then this class will behave as regular encoder odometry.

Member Typedef Documentation

◆ WheelPositions

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

◆ WheelSpeeds

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

Constructor & Destructor Documentation

◆ SwerveDrivePoseEstimator() [1/2]

ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::SwerveDrivePoseEstimator	(	SwerveDriveKinematics const &	kinematics,
		Rotation2d const &	gyroAngle,
		WheelPositions	modulePositions,
		Pose2d	initialPose )

inline

Constructs a SwerveDrivePoseEstimator with default standard deviations for the model and vision measurements.

The default standard deviations of the model states are 0.1 meters for x, 0.1 meters for y, and 0.1 radians for heading. The default standard deviations of the vision measurements are 0.9 meters for x, 0.9 meters for y, and 0.9 radians for heading.

Parameters

kinematics	A correctly-configured kinematics object for your drivetrain.
gyroAngle	The current gyro angle.
modulePositions	The current distance and rotation measurements of the swerve modules.
initialPose	The starting pose estimate.

◆ SwerveDrivePoseEstimator() [2/2]

ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::SwerveDrivePoseEstimator	(	SwerveDriveKinematics const &	kinematics,
		Rotation2d const &	gyroAngle,
		WheelPositions	modulePositions,
		Pose2d	initialPose,
		std::array< double, 3 > const &	stateStdDevs,
		std::array< double, 3 > const &	visionMeasurementStdDevs )

Constructs a SwerveDrivePoseEstimator.

Parameters

kinematics	A correctly-configured kinematics object for your drivetrain.
gyroAngle	The current gyro angle.
modulePositions	The current distance and rotation measurements of the swerve modules.
initialPose	The starting pose estimate.
stateStdDevs	Standard deviations of the pose estimate (x position in meters, y position in meters, and heading in radians). Increase these numbers to trust your state estimate less.
visionMeasurementStdDevs	Standard deviations of the vision pose measurement (x position in meters, y position in meters, and heading in radians). Increase these numbers to trust the vision pose measurement less.

◆ ~SwerveDrivePoseEstimator()

ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::~SwerveDrivePoseEstimator ( )

Member Function Documentation

◆ AddVisionMeasurement() [1/2]

void ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::AddVisionMeasurement	(	Pose2d const &	visionRobotPose,
		units::second_t	timestamp )

Adds a vision measurement to the Kalman Filter.

This will correct the odometry pose estimate while still accounting for measurement noise.

This method can be called as infrequently as you want, as long as you are calling Update() every loop.

To promote stability of the pose estimate and make it robust to bad vision data, we recommend only adding vision measurements that are already within one meter or so of the current pose estimate.

Parameters

visionRobotPose	The pose of the robot as measured by the vision camera.
timestamp	The timestamp of the vision measurement in seconds. Note that if you don't use your own time source by calling UpdateWithTime(), then you must use a timestamp with an epoch since system startup (i.e., the epoch of this timestamp is the same epoch as utils::GetCurrentTime(). This means that you should use utils::GetCurrentTime() as your time source in this case.

◆ AddVisionMeasurement() [2/2]

void ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::AddVisionMeasurement	(	Pose2d const &	visionRobotPose,
		units::second_t	timestamp,
		std::array< double, 3 > const &	visionMeasurementStdDevs )

inline

Adds a vision measurement to the Kalman Filter.

This will correct the odometry pose estimate while still accounting for measurement noise.

This method can be called as infrequently as you want, as long as you are calling Update() every loop.

To promote stability of the pose estimate and make it robust to bad vision data, we recommend only adding vision measurements that are already within one meter or so of the current pose estimate.

Note that the vision measurement standard deviations passed into this method will continue to apply to future measurements until a subsequent call to SetVisionMeasurementStdDevs() or this method.

Parameters

visionRobotPose	The pose of the robot as measured by the vision camera.
timestamp	The timestamp of the vision measurement in seconds. Note that if you don't use your own time source by calling UpdateWithTime(), then you must use a timestamp with an epoch since system startup (i.e., the epoch of this timestamp is the same epoch as utils::GetCurrentTime(). This means that you should use utils::GetCurrentTime() as your time source in this case.
visionMeasurementStdDevs	Standard deviations of the vision pose measurement (x position in meters, y position in meters, and heading in radians). Increase these numbers to trust the vision pose measurement less.

◆ GetEstimatedPosition()

Pose2d ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::GetEstimatedPosition ( ) const

inline

Gets the estimated robot pose.

Returns: The estimated robot pose in meters.

◆ ResetPose()

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

inline

Resets the robot's pose.

Parameters

pose	The pose to reset to.

◆ ResetPosition()

void ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::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 in the user's robot code. The library automatically takes care of offsetting the gyro angle.

Parameters

gyroAngle	The current gyro angle.
wheelPositions	The distances traveled by the encoders.
pose	The estimated pose of the robot on the field.

◆ ResetRotation()

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

inline

Resets the robot's rotation.

Parameters

rotation The rotation to reset to.

◆ ResetTranslation()

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

inline

Resets the robot's translation.

Parameters

translation The pose to translation to.

◆ SampleAt()

std::optional< Pose2d > ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::SampleAt ( units::second_t timestamp ) const

Return the pose at a given timestamp, if the buffer is not empty.

Parameters

timestamp The pose's timestamp.

Returns: The pose at the given timestamp (or std::nullopt if the buffer is empty).

◆ SetVisionMeasurementStdDevs()

void ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::SetVisionMeasurementStdDevs ( std::array< double, 3 > const & visionMeasurementStdDevs )

Sets the pose estimator's trust in vision measurements.

This might be used to change trust in vision measurements after the autonomous period, or to change trust as distance to a vision target increases.

Parameters

visionMeasurementStdDevs Standard deviations of the vision pose measurement (x position in meters, y position in meters, and heading in radians). Increase these numbers to trust the vision pose measurement less.

◆ Update()

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

inline

Updates the pose estimator with wheel encoder and gyro information.

This should be called every loop.

Parameters

gyroAngle	The current gyro angle.
wheelPositions	The distances traveled by the encoders.

Returns: The estimated pose of the robot in meters.

◆ UpdateWithTime()

Pose2d ctre::phoenix6::swerve::impl::SwerveDrivePoseEstimator::UpdateWithTime	(	units::second_t	currentTime,
		Rotation2d const &	gyroAngle,
		WheelPositions const &	wheelPositions )

inline

Updates the pose estimator with wheel encoder and gyro information.

This should be called every loop.

Parameters

currentTime	The time at which this method was called.
gyroAngle	The current gyro angle.
wheelPositions	The distances traveled by the encoders.

Returns: The estimated pose of the robot in meters.

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

ctre/phoenix6/swerve/impl/SwerveDrivePoseEstimator.hpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ WheelPositions

◆ WheelSpeeds

Constructor & Destructor Documentation

◆ SwerveDrivePoseEstimator() [1/2]

◆ SwerveDrivePoseEstimator() [2/2]

◆ ~SwerveDrivePoseEstimator()

Member Function Documentation

◆ AddVisionMeasurement() [1/2]

◆ AddVisionMeasurement() [2/2]

◆ GetEstimatedPosition()

◆ ResetPose()

◆ ResetPosition()

◆ ResetRotation()

◆ ResetTranslation()

◆ SampleAt()

◆ SetVisionMeasurementStdDevs()

◆ Update()

◆ UpdateWithTime()