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WPILibC++
2020.3.2
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2D representation of game field (for simulation). More...
#include <Field2d.h>
Public Member Functions | |
| void | SetRobotPose (const Pose2d &pose) |
| Set the robot pose from a Pose object. More... | |
| void | SetRobotPose (units::meter_t x, units::meter_t y, Rotation2d rotation) |
| Set the robot pose from x, y, and rotation. More... | |
| Pose2d | GetRobotPose () |
| Get the robot pose. More... | |
2D representation of game field (for simulation).
In non-simulation mode this simply stores and returns the robot pose.
The robot pose is the actual location shown on the simulation view. This may or may not match the robot's internal odometry. For example, if the robot is shown at a particular starting location, the pose in this class would represent the actual location on the field, but the robot's internal state might have a 0,0,0 pose (unless it's initialized to something different).
As the user is able to edit the pose, code performing updates should get the robot pose, transform it as appropriate (e.g. based on simulated wheel velocity), and set the new pose.
| Pose2d frc::Field2d::GetRobotPose | ( | ) |
Get the robot pose.
| void frc::Field2d::SetRobotPose | ( | const Pose2d & | pose | ) |
Set the robot pose from a Pose object.
| pose | 2D pose |
| void frc::Field2d::SetRobotPose | ( | units::meter_t | x, |
| units::meter_t | y, | ||
| Rotation2d | rotation | ||
| ) |
Set the robot pose from x, y, and rotation.
| x | X location |
| y | Y location |
| rotation | rotation |