ILocalizationStrategy

class ILocalizationStrategy

The localization strategy interface class. All children must implement the Compute function with their localization algorithm.

Public Functions

virtual bool Compute(TagArray &fresh_poses, RobotPose &filtered_pose) = 0

Calculate the location of the robot in 3d space.

Parameters:

fresh_poses – An array of poses recently received from the cameras. More than one pose per tag per camera is likely to be received, as all possible poses per Apriltag are computed.
filtered_pose – The calculated location of the robot.

Returns:

true if at least one tag was used to calculate the filtered_pose of the robot. false if no tags were used to calculate the filtered_pose.