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[wpimath] Fix input vector in pose estimator docs (NFC) (#3923)

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Tyler Veness
2022-01-15 20:03:39 -08:00
committed by GitHub
parent 8f387f7255
commit 36af6d25a5
6 changed files with 12 additions and 12 deletions
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4
wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
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@@ -40,8 +40,8 @@ import java.util.function.BiConsumer;
* <p><strong> x = [x, y, theta, dist_l, dist_r]ᵀ </strong> in the field coordinate system
* containing x position, y position, heading, left encoder distance, and right encoder distance.
*
* <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
* velocity, and change in gyro heading.
* <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
* in the field coordinate system.
*
* <p>NB: Using velocities make things considerably easier, because it means that teams don't have
* to worry about getting an accurate model. Basically, we suspect that it's easier for teams to get

4
wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
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@@ -38,8 +38,8 @@ import java.util.function.BiConsumer;
* <p><strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system containing x position, y
* position, and heading.
*
* <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
* velocity, and change in gyro heading.
* <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
* in the field coordinate system.
*
* <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.

4
wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
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@@ -38,8 +38,8 @@ import java.util.function.BiConsumer;
* <p><strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system containing x position, y
* position, and heading.
*
* <p><strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity, right wheel
* velocity, and change in gyro heading.
* <p><strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity, and angular rate
* in the field coordinate system.
*
* <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.