#include <odometry.hpp>

Public Member Functions
	EncoderEKFOdometry (pros::Motor &fl, pros::Motor &fr, pros::Motor &bl, pros::Motor &br, pros::IMU &imu_sensor, ChassisConfig cfg)
	Constructor initializing the EKF Odometry system.

void	update (uint32_t period_ms)
	Main loop running the processing pipeline.

void	startTask (uint32_t period_ms=10)
	Spawns the processing task thread if not already running.

void	addTrackingWheel (TrackingWheelConfig config)
	Adds a tracking wheel configuration to the pipeline.

void	clearTrackingWheels ()
	Clears tracking wheels and falls back to motor layout.

void	setPose (float x, float y, float theta)
	Sets the pose of the robot.

void	setPose (Pose pose)
	Sets the pose of the robot.

Pose	getPose (bool radians=false)
	Gets the pose of the robot.

void	setVelocityCalculations (bool state)

void	setKalmanFilterEnabled (bool enabled)
	Enable or disable the internal Extended Kalman Filter.

Detailed Description

Definition at line 52 of file odometry.hpp.

Constructor & Destructor Documentation

◆ EncoderEKFOdometry()

hololib::EncoderEKFOdometry::EncoderEKFOdometry	(	pros::Motor &	fl,
		pros::Motor &	fr,
		pros::Motor &	bl,
		pros::Motor &	br,
		pros::IMU &	imu_sensor,
		ChassisConfig	cfg
	)

Constructor initializing the EKF Odometry system.

Member Function Documentation

◆ update()

void hololib::EncoderEKFOdometry::update ( uint32_t period_ms )

Main loop running the processing pipeline.

Parameters

period Task execution period in milliseconds.

◆ startTask()

void hololib::EncoderEKFOdometry::startTask ( uint32_t period_ms = 10 )

Spawns the processing task thread if not already running.

◆ addTrackingWheel()

void hololib::EncoderEKFOdometry::addTrackingWheel ( TrackingWheelConfig config )

Adds a tracking wheel configuration to the pipeline.

◆ clearTrackingWheels()

void hololib::EncoderEKFOdometry::clearTrackingWheels ( )

Clears tracking wheels and falls back to motor layout.

◆ setPose() [1/2]

void hololib::EncoderEKFOdometry::setPose	(	float	x,
		float	y,
		float	theta
	)

Sets the pose of the robot.

◆ setPose() [2/2]

void hololib::EncoderEKFOdometry::setPose ( Pose pose )

Sets the pose of the robot.

◆ getPose()

Pose hololib::EncoderEKFOdometry::getPose ( bool radians = false )

Gets the pose of the robot.

◆ setVelocityCalculations()

void hololib::EncoderEKFOdometry::setVelocityCalculations ( bool state )

◆ setKalmanFilterEnabled()

void hololib::EncoderEKFOdometry::setKalmanFilterEnabled ( bool enabled )

Enable or disable the internal Extended Kalman Filter.

Public Member Functions