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[wpimath] Fix pose estimator reset methods (#7225)

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This commit is contained in:
Joseph Eng
2024-10-18 16:06:32 -07:00
committed by GitHub
parent ee22482f4a
commit 2054d0f57e
8 changed files with 474 additions and 0 deletions
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6
wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
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@@ -134,6 +134,8 @@ public class PoseEstimator<T> {
public void resetPose(Pose2d pose) {
m_odometry.resetPose(pose);
m_odometryPoseBuffer.clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.getPoseMeters();
}
/**
@@ -144,6 +146,8 @@ public class PoseEstimator<T> {
public void resetTranslation(Translation2d translation) {
m_odometry.resetTranslation(translation);
m_odometryPoseBuffer.clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.getPoseMeters();
}
/**
@@ -154,6 +158,8 @@ public class PoseEstimator<T> {
public void resetRotation(Rotation2d rotation) {
m_odometry.resetRotation(rotation);
m_odometryPoseBuffer.clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.getPoseMeters();
}
/**

6
wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
View File

@@ -124,6 +124,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
void ResetPose(const Pose2d& pose) {
m_odometry.ResetPose(pose);
m_odometryPoseBuffer.Clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.GetPose();
}
/**
@@ -134,6 +136,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
void ResetTranslation(const Translation2d& translation) {
m_odometry.ResetTranslation(translation);
m_odometryPoseBuffer.Clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.GetPose();
}
/**
@@ -144,6 +148,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
void ResetRotation(const Rotation2d& rotation) {
m_odometry.ResetRotation(rotation);
m_odometryPoseBuffer.Clear();
m_visionUpdates.clear();
m_poseEstimate = m_odometry.GetPose();
}
/**