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[wpimath] Add 3D odometry and pose estimation (#7119)

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This commit is contained in:
Joseph Eng
2024-11-16 07:56:14 -08:00
committed by GitHub
parent aa7dd258c4
commit 2acf111f56
49 changed files with 6716 additions and 116 deletions
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11
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
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@@ -62,11 +62,7 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry
*/
void ResetPosition(const Rotation2d& gyroAngle, units::meter_t leftDistance,
units::meter_t rightDistance, const Pose2d& pose) {
Odometry<DifferentialDriveWheelSpeeds,
DifferentialDriveWheelPositions>::ResetPosition(gyroAngle,
{leftDistance,
rightDistance},
pose);
Odometry::ResetPosition(gyroAngle, {leftDistance, rightDistance}, pose);
}
/**
@@ -82,10 +78,7 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry
*/
const Pose2d& Update(const Rotation2d& gyroAngle, units::meter_t leftDistance,
units::meter_t rightDistance) {
return Odometry<DifferentialDriveWheelSpeeds,
DifferentialDriveWheelPositions>::Update(gyroAngle,
{leftDistance,
rightDistance});
return Odometry::Update(gyroAngle, {leftDistance, rightDistance});
}
private: