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[wpimath] Add Rotation3d rotation vector getter (#7564)

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The code churn in Java is just making the function order consistent
between languages.
This commit is contained in:
Tyler Veness
2024-12-22 13:34:51 -08:00
committed by GitHub
parent 0c99073b94
commit 02a0adc653
5 changed files with 40 additions and 25 deletions
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2
wpimath/src/main/java/edu/wpi/first/math/kinematics/Odometry3d.java
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@@ -125,7 +125,7 @@ public class Odometry3d<T> {
*/
public Pose3d update(Rotation3d gyroAngle, T wheelPositions) {
var angle = gyroAngle.plus(m_gyroOffset);
var angle_difference = angle.minus(m_previousAngle).getQuaternion().toRotationVector();
var angle_difference = angle.minus(m_previousAngle).toVector();
var twist2d = m_kinematics.toTwist2d(m_previousWheelPositions, wheelPositions);
var twist =