Docs corrections related to PhotonPoseEstimator (#804)

photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java

@@ -63,7 +63,7 @@ public class PhotonPoseEstimator {
         /** Choose the Pose which is closest to the last pose calculated */
         CLOSEST_TO_LAST_POSE,
 
-        /** Choose the Pose with the lowest ambiguity. */
+        /** Return the average of the best target poses using ambiguity as weight. */
         AVERAGE_BEST_TARGETS,
 
         /** Use all visible tags to compute a single pose estimate.. */
@@ -89,9 +89,9 @@ public class PhotonPoseEstimator {
      *     href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
      *     Coordinate System</a>.
      * @param strategy The strategy it should use to determine the best pose.
-     * @param camera PhotonCameras and
-     * @param robotToCamera Transform3d from the center of the robot to the camera mount positions
-     *     (ie, robot ➔ camera) in the <a
+     * @param camera PhotonCamera
+     * @param robotToCamera Transform3d from the center of the robot to the camera mount position (ie,
+     *     robot ➔ camera) in the <a
      *     href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#robot-coordinate-system">Robot
      *     Coordinate System</a>.
      */
@@ -240,8 +240,8 @@ public class PhotonPoseEstimator {
      * Poll data from the configured cameras and update the estimated position of the robot. Returns
      * empty if there are no cameras set or no targets were found from the cameras.
      *
-     * @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and
-     *     pipeline results used to create the estimate
+     * @return an EstimatedRobotPose with an estimated pose, the timestamp, and targets used to create
+     *     the estimate
      */
     public Optional<EstimatedRobotPose> update() {
         if (camera == null) {

photonlib-java-examples/apriltagExample/src/main/java/frc/robot/Drivetrain.java

@@ -181,9 +181,6 @@ public class Drivetrain {
         m_poseEstimator.update(
                 m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance());
 
-        // Also apply vision measurements. We use 0.3 seconds in the past as an example
-        // -- on
-        // a real robot, this must be calculated based either on latency or timestamps.
         Optional<EstimatedRobotPose> result =
                 pcw.getEstimatedGlobalPose(m_poseEstimator.getEstimatedPosition());
 

photonlib-java-examples/apriltagExample/src/main/java/frc/robot/PhotonCameraWrapper.java

@@ -79,8 +79,8 @@ public class PhotonCameraWrapper {
 
     /**
      * @param estimatedRobotPose The current best guess at robot pose
-     * @return A pair of the fused camera observations to a single Pose2d on the field, and the time
-     *     of the observation. Assumes a planar field and the robot is always firmly on the ground
+     * @return an EstimatedRobotPose with an estimated pose, the timestamp, and targets used to create
+     *     the estimate
      */
     public Optional<EstimatedRobotPose> getEstimatedGlobalPose(Pose2d prevEstimatedRobotPose) {
         photonPoseEstimator.setReferencePose(prevEstimatedRobotPose);