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Add an overload of resetHeadingData() which takes in a Rotation3d (#2013)

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This commit is contained in:
Kevin Cooney
2025-07-27 17:28:16 -07:00
committed by GitHub
parent 4b5bc6ae84
commit cefaa313df
1 changed files with 16 additions and 3 deletions
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19
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -316,7 +316,7 @@ public class PhotonPoseEstimator {
* Add robot heading data to buffer. Must be called periodically for the
* <b>PNP_DISTANCE_TRIG_SOLVE</b> strategy.
*
* @param timestampSeconds timestamp of the robot heading data.
* @param timestampSeconds Timestamp of the robot heading data.
* @param heading Field-relative robot heading at given timestamp. Standard WPILIB field
* coordinates.
*/
@@ -328,7 +328,7 @@ public class PhotonPoseEstimator {
* Add robot heading data to buffer. Must be called periodically for the
* <b>PNP_DISTANCE_TRIG_SOLVE</b> strategy.
*
* @param timestampSeconds timestamp of the robot heading data.
* @param timestampSeconds Timestamp of the robot heading data.
* @param heading Field-relative robot heading at given timestamp. Standard WPILIB field
* coordinates.
*/
@@ -340,7 +340,20 @@ public class PhotonPoseEstimator {
* Clears all heading data in the buffer, and adds a new seed. Useful for preventing estimates
* from utilizing heading data provided prior to a pose or rotation reset.
*
* @param timestampSeconds timestamp of the robot heading data.
* @param timestampSeconds Timestamp of the robot heading data.
* @param heading Field-relative robot heading at given timestamp. Standard WPILIB field
* coordinates.
*/
public void resetHeadingData(double timestampSeconds, Rotation3d heading) {
headingBuffer.clear();
addHeadingData(timestampSeconds, heading);
}
/**
* Clears all heading data in the buffer, and adds a new seed. Useful for preventing estimates
* from utilizing heading data provided prior to a pose or rotation reset.
*
* @param timestampSeconds Timestamp of the robot heading data.
* @param heading Field-relative robot heading at given timestamp. Standard WPILIB field
* coordinates.
*/