Bundle of all sensors used by the LightLib pose estimator. More...

#include <odometry.hpp>

Public Member Functions
	OdomSensors (TrackingWheel v1, TrackingWheel v2, TrackingWheel h1, TrackingWheel h2, pros::Imu imu, pros::Imu imu2=nullptr)
	Wheel + IMU only constructor.

	OdomSensors (TrackingWheel v1, TrackingWheel v2, TrackingWheel h1, TrackingWheel h2, pros::Imu imu, pros::Imu imu2, pros::Gps *gps, float gpsOffsetX, float gpsOffsetY, std::vector< DistanceSensorSpec > distanceSensors)
	Full constructor with GPS and distance sensors.

Public Attributes
TrackingWheel *	vertical1
	Primary vertical (forward-axis) tracking wheel.

TrackingWheel *	vertical2
	Secondary vertical tracking wheel (or nullptr).

TrackingWheel *	horizontal1
	Primary horizontal (lateral) tracking wheel.

TrackingWheel *	horizontal2
	Secondary horizontal tracking wheel (or nullptr).

pros::Imu *	imu
	Primary IMU.

pros::Imu *	imu2
	Optional second IMU; nullptr if not used.

pros::Gps *	gps
	Optional absolute-position GPS.

float	gpsOffsetX
	GPS mount X in robot frame, meters.

float	gpsOffsetY
	GPS mount Y in robot frame, meters.

std::vector< DistanceSensorSpec >	distanceSensors
	Optional distance sensors for LightCast.

Detailed Description

Bundle of all sensors used by the LightLib pose estimator.

Definition at line 116 of file odometry.hpp.

Constructor & Destructor Documentation

◆ OdomSensors() [1/2]

OdomSensors::OdomSensors	(	TrackingWheel *	v1,
		TrackingWheel *	v2,
		TrackingWheel *	h1,
		TrackingWheel *	h2,
		pros::Imu *	imu,
		pros::Imu *	imu2 = `nullptr`
	)

inline

Wheel + IMU only constructor.

Definition at line 141 of file odometry.hpp.

◆ OdomSensors() [2/2]

OdomSensors::OdomSensors	(	TrackingWheel *	v1,
		TrackingWheel *	v2,
		TrackingWheel *	h1,
		TrackingWheel *	h2,
		pros::Imu *	imu,
		pros::Imu *	imu2,
		pros::Gps *	gps,
		float	gpsOffsetX,
		float	gpsOffsetY,
		std::vector< DistanceSensorSpec >	distanceSensors
	)

inline

Full constructor with GPS and distance sensors.

Definition at line 147 of file odometry.hpp.

Member Data Documentation

◆ distanceSensors

std::vector<DistanceSensorSpec> OdomSensors::distanceSensors

Optional distance sensors for LightCast.

Empty vector = LightCast inactive; the system runs in EKF-only mode (still works — just no hybrid snap on divergence).

Definition at line 138 of file odometry.hpp.

◆ gps

pros::Gps* OdomSensors::gps

Optional absolute-position GPS.

If gps == nullptr, the EKF skips the GPS update step entirely and runs on wheel + IMU alone — no regression vs prior behavior.

Definition at line 129 of file odometry.hpp.

◆ gpsOffsetX

float OdomSensors::gpsOffsetX

GPS mount X in robot frame, meters.

Definition at line 130 of file odometry.hpp.

◆ gpsOffsetY

float OdomSensors::gpsOffsetY

GPS mount Y in robot frame, meters.

Definition at line 131 of file odometry.hpp.

◆ horizontal1

TrackingWheel* OdomSensors::horizontal1

Primary horizontal (lateral) tracking wheel.

Definition at line 119 of file odometry.hpp.

◆ horizontal2

TrackingWheel* OdomSensors::horizontal2

Secondary horizontal tracking wheel (or nullptr).

Definition at line 120 of file odometry.hpp.

◆ imu

pros::Imu* OdomSensors::imu

Primary IMU.

Definition at line 121 of file odometry.hpp.

◆ imu2

pros::Imu* OdomSensors::imu2

Optional second IMU; nullptr if not used.

Definition at line 122 of file odometry.hpp.

◆ vertical1

TrackingWheel* OdomSensors::vertical1

Primary vertical (forward-axis) tracking wheel.

Definition at line 117 of file odometry.hpp.

◆ vertical2

TrackingWheel* OdomSensors::vertical2

Secondary vertical tracking wheel (or nullptr).

Definition at line 118 of file odometry.hpp.

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

include/LightLib/drive/odometry.hpp

Public Member Functions

Public Attributes