0.2.1

core/com.acmerobotics.roadrunner.geometry/RobotState

RobotState

data class RobotState(val pose: Pose2d, val vel: PoseVelocity2d, val accel: Acceleration2d)

Represents a robot's pose on the field at a given time.

Constructors

constructor(pose: Pose2d, vel: PoseVelocity2d, accel: Acceleration2d)

Types

object Companion

Properties

val accel: Acceleration2d

The linear and angular acceleration of the robot, in the robot frame.

val pose: Pose2d

The position and heading of the robot, in field coordinates.

val vel: PoseVelocity2d

The linear and angular velocity of the robot, in the robot frame.

Functions

fun <Param : DualParameter> toDualPose(): Pose2dDual<Param>