Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

6
wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
View File

@@ -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();
}
/**