Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

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

4
wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
View File

@@ -85,7 +85,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingTrajectory) {
frc::MecanumDriveWheelPositions wheelPositions;
frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
wheelPositions, frc::Pose2d{}};
wheelPositions};
frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
@@ -148,7 +148,7 @@ TEST_F(MecanumDriveOdometryTest, AccuracyFacingXAxis) {
frc::MecanumDriveWheelPositions wheelPositions;
frc::MecanumDriveOdometry odometry{kinematics, frc::Rotation2d{},
wheelPositions, frc::Pose2d{}};
wheelPositions};
frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},