Package me.autobot.lib.odometry

Class SimpleOdometry2d

java.lang.Object

me.autobot.lib.odometry.SimpleOdometry2d

public class SimpleOdometry2d
extends Object

A simple 2D odometry object that can be used to track the position and rotation of an object.

Constructor Summary

Constructors

Constructor	Description
SimpleOdometry2d()	Creates an empty odometry object with a position and rotation of 0.
SimpleOdometry2d(Vector2d position, Rotation2d rotation)	Creates an odometry object with a given position and rotation.

Method Summary

Modifier and Type	Method	Description
Vector2d	getPosition()	Gets the current position of the odometry object.
Rotation2d	getRotation()	Gets the current rotation of the odometry object.
void	move(Vector2d movement)	Moves the odometry object by a given movement.
SimpleOdometry2d	reset()	Resets the odometry object to the starting position and rotation.
void	rotate(Rotation2d rotation)	Rotates the odometry object by a given rotation.
SimpleOdometry2d	setStartPosition(Vector2d startPosition)	Sets the starting position of the odometry object.
SimpleOdometry2d	setStartRotation(Rotation2d startRotation)	Sets the starting rotation of the odometry object.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SimpleOdometry2d

public SimpleOdometry2d()

Creates an empty odometry object with a position and rotation of 0.

SimpleOdometry2d

public SimpleOdometry2d(Vector2d position,
 Rotation2d rotation)

Creates an odometry object with a given position and rotation.

Parameters:

position - The position of the odometry object.

rotation - The rotation of the odometry object.

Method Details

setStartPosition

public SimpleOdometry2d setStartPosition(Vector2d startPosition)

Sets the starting position of the odometry object.

Parameters:

startPosition - The starting position of the odometry object. This is useful for resetting the odometry object.

Returns:

The odometry object.

See Also:

• reset()

setStartRotation

public SimpleOdometry2d setStartRotation(Rotation2d startRotation)

Sets the starting rotation of the odometry object.

Parameters:

startRotation - The starting rotation of the odometry object. This is useful for resetting the odometry object.

Returns:

The odometry object.

See Also:

• reset()

reset

public SimpleOdometry2d reset()

Resets the odometry object to the starting position and rotation.

Returns:

The odometry object.

getPosition

public Vector2d getPosition()

Gets the current position of the odometry object.

Returns:

The current position of the odometry object.

getRotation

public Rotation2d getRotation()

Gets the current rotation of the odometry object.

Returns:

The current rotation of the odometry object.

rotate

public void rotate(Rotation2d rotation)

Rotates the odometry object by a given rotation.

Parameters:

rotation - The rotation to rotate the odometry object by.

move

public void move(Vector2d movement)

Moves the odometry object by a given movement.

Parameters:

movement - The movement to move the odometry object by.