Package frc.spectrumLib.localization
package frc.spectrumLib.localization
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ClassDescriptionOne rejection rule in a source's gate chain.Robot state a gate may consult, built once per loop from logged inputs so gating replays deterministically.Checks, from logged inputs, that the gyros are mounted the way the code is told, against the drivetrain's own wheel motion.One loop's readings.How a gyro's heading follows the wheels' turning, while both are turning.Screens each odometry sample before
PoseFusionsees it, so a device that drops off CAN cannot move the pose.What to hand the estimators.One odometry sample.Limits and geometry.The robot's pose estimate, and the machinery to compare every source against it.One robot-pose measurement from one source, before any gating.What produced an observation.One robot-pose source: a device, its own gate chain, and its own trust model.Gate outcome for one observation.Everything a pose source reported since the last loop, as an AdvantageKit input.Hardware layer for one pose source, AdvantageKit style.Chooses how much the estimator should trust an observation that has passed every gate.Standard deviations handed to the pose estimator.An extended Kalman filter over (x, y, heading) that takes every camera's tags one at a time, in the style of 971's AOS localizer: each tag is a bearing and a distance from its camera, so a single or far tag still corrects the pose at a low weight instead of being thrown away, and every camera feeds the same estimate.Per-camera tag counts, and this loop's residuals of the tags that passed.One AprilTag seen by one camera in one frame: where the tag's centre was, relative to the camera.Ring buffer of chassis yaw-rate samples, for the lookback spin gate.