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Expose both pose solutions (#521)

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* Half-add second pose

* add c++

* run wpiformat

* Fix c++
This commit is contained in:
Matt
2022-10-22 07:42:45 -04:00
committed by GitHub
parent 27198a3e32
commit 2d7a88e231
14 changed files with 142 additions and 63 deletions
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2
photonlib-java-examples/src/main/java/org/photonlib/examples/simposeest/robot/DrivetrainPoseEstimator.java
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@@ -87,7 +87,7 @@ public class DrivetrainPoseEstimator {
var res = cam.getLatestResult();
if (res.hasTargets()) {
double imageCaptureTime = Timer.getFPGATimestamp() - res.getLatencyMillis() / 1000.0;
Transform3d camToTargetTrans = res.getBestTarget().getCameraToTarget();
Transform3d camToTargetTrans = res.getBestTarget().getBestCameraToTarget();
var transform =
new Transform2d(
camToTargetTrans.getTranslation().toTranslation2d(),