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[wpimath] Fix docs for pose estimator local measurement models (#4558)

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This commit is contained in:
Tyler Veness
2022-11-02 22:53:21 -07:00
committed by GitHub
parent 1177a3522e
commit 2416827c25
4 changed files with 11 additions and 8 deletions
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3
wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
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@@ -49,7 +49,8 @@ import java.util.function.BiConsumer;
* left, front right, rear left, and rear right wheels.
*
* <p><strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y position, and
* heading; or <strong> y = [theta]ᵀ </strong> containing gyro heading.
* heading; or <strong> y = [theta, s_fl, s_fr, s_rl, s_rr]ᵀ </strong> containing gyro heading,
* followed by the distance driven by the front left, front right, rear left, and rear right wheels.
*/
public class MecanumDrivePoseEstimator {
private final UnscentedKalmanFilter<N7, N7, N5> m_observer;

5
wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
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@@ -43,14 +43,15 @@ import java.util.function.BiConsumer;
* <p>The state-space system used internally has the following states (x), inputs (u), and outputs
* (y):
*
* <p><strong> x = [x, y, theta, s_0, ... s_n]ᵀ </strong> in the field coordinate system containing
* <p><strong> x = [x, y, theta, s_0, ..., s_n]ᵀ </strong> in the field coordinate system containing
* x position, y position, and heading, followed by the distance travelled by each wheel.
*
* <p><strong> u = [v_x, v_y, omega, v_0, ... v_n]ᵀ </strong> containing x velocity, y velocity, and
* angular rate in the field coordinate system, followed by the velocity measured at each wheel.
*
* <p><strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y position, and
* heading; or <strong> y = [theta]ᵀ </strong> containing gyro heading.
* heading; or <strong> y = [theta, s_0, ..., s_n]ᵀ </strong> containing gyro heading, followed by
* the distance travelled by each wheel.
*/
public class SwerveDrivePoseEstimator<States extends Num, Inputs extends Num, Outputs extends Num> {
private final UnscentedKalmanFilter<States, Inputs, Outputs> m_observer;