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Cleanup Docs for PhotonPoseEstimator (#1795)

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Julius
2025-03-04 05:41:04 -08:00
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docs/source/docs/programming/photonlib/robot-pose-estimator.md
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@@ -32,7 +32,7 @@ The API documentation can be found in here: [Java](https://github.wpilib.org/all
## Creating a `PhotonPoseEstimator`
The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above), `PoseStrategy`, `PhotonCamera`, and `Transform3d`. `PoseStrategy` has six possible values:
The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above), `PoseStrategy`, `PhotonCamera`, and `Transform3d`. `PoseStrategy` has nine possible values:
- MULTI_TAG_PNP_ON_COPROCESSOR
- Calculates a new robot position estimate by combining all visible tag corners. Recommended for all teams as it will be the most accurate.
@@ -155,3 +155,7 @@ Updates the stored reference pose when using the CLOSEST_TO_REFERENCE_POSE strat
### `setLastPose(Pose3d lastPose)`
Update the stored last pose. Useful for setting the initial estimate when using the CLOSEST_TO_LAST_POSE strategy.
### `addHeadingData(double timestampSeconds, Rotation2d heading)`
Adds robot heading data to be stored in buffer. Must be called periodically with a proper timestamp for the PNP_DISTANCE_TRIG_SOLVE and CONSTRAINED_SOLVEPNP strategies