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Merge branch 'main' into 2027

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This commit is contained in:
Peter Johnson
2024-12-26 18:55:43 -08:00
parent 78b14c5204 fe49cbe429
commit 2a757eaeb5
143 changed files with 6155 additions and 5268 deletions
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wpimath/src/main/native/include/frc/kinematics/Odometry3d.h
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@@ -120,8 +120,7 @@ class WPILIB_DLLEXPORT Odometry3d {
const Pose3d& Update(const Rotation3d& gyroAngle,
const WheelPositions& wheelPositions) {
auto angle = gyroAngle + m_gyroOffset;
auto angle_difference =
(angle - m_previousAngle).GetQuaternion().ToRotationVector();
auto angle_difference = (angle - m_previousAngle).ToVector();
auto twist2d =
m_kinematics.ToTwist2d(m_previousWheelPositions, wheelPositions);