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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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5
wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
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@@ -46,8 +46,9 @@ namespace frc {
* right wheels.
*
* <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.
* position, and 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.
*/
class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
public:

6
wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
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@@ -38,7 +38,7 @@ namespace frc {
* The state-space system used internally has the following states (x), inputs
* (u), and outputs (y):
*
* <strong> x = [x, y, theta, s_0, ... s_n]ᵀ </strong> in the field coordinate
* <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.
*
@@ -47,8 +47,8 @@ namespace frc {
* followed by the velocity measured at each wheel.
*
* <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.
* position, and heading; or <strong> y = [theta, s_0, ..., s_n]ᵀ </strong>
* containing gyro heading, followed by the distance travelled by each wheel.
*/
template <size_t NumModules>
class SwerveDrivePoseEstimator {