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Add RobotPoseEstimator (#571)

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RobotPoseEstimator can pick the most likely pose for the robot given a number of possible poses, using a number of different strategies. Examples are still WIP.
This commit is contained in:
Jack
2022-12-30 00:40:13 -06:00
committed by GitHub
parent 3a10f49b54
commit 550194152a
12 changed files with 1805 additions and 4 deletions
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9
photon-lib/src/test/native/cpp/PacketTest.cpp
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@@ -39,6 +39,9 @@ TEST(PacketTest, PhotonTrackedTarget) {
-1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}};
photonlib::Packet p;
@@ -73,6 +76,9 @@ TEST(PacketTest, PhotonPipelineResult) {
1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6}, std::pair{7, 8}}},
photonlib::PhotonTrackedTarget{
3.0,
@@ -82,6 +88,9 @@ TEST(PacketTest, PhotonPipelineResult) {
-1,
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
frc::Transform3d(frc::Translation3d(1_m, 2_m, 3_m),
frc::Rotation3d(1_rad, 2_rad, 3_rad)),
-1,
{std::pair{1, 2}, std::pair{3, 4}, std::pair{5, 6},
std::pair{7, 8}}}};