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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/native/include/frc/estimator/DifferentialDrivePoseEstimator.h
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@@ -38,8 +38,8 @@ namespace frc {
* system containing x position, y position, heading, left encoder distance,
* and right encoder distance.
*
* <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
* right wheel velocity, and change in gyro heading.
* <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
* and angular velocity in the field coordinate system.
*
* NB: Using velocities make things considerably easier, because it means that
* teams don't have to worry about getting an accurate model. Basically, we

4
wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h
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@@ -38,8 +38,8 @@ namespace frc {
* <strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system
* containing x position, y position, and heading.
*
* <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
* right wheel velocity, and change in gyro heading.
* <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
* and angular velocity in the field coordinate system.
*
* <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
* position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro

4
wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
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@@ -40,8 +40,8 @@ namespace frc {
* <strong> x = [x, y, theta]ᵀ </strong> in the field coordinate system
* containing x position, y position, and heading.
*
* <strong> u = [v_l, v_r, dtheta]ᵀ </strong> containing left wheel velocity,
* right wheel velocity, and change in gyro heading.
* <strong> u = [v_x, v_y, omega]ᵀ </strong> containing x velocity, y velocity,
* and angular velocity in the field coordinate system.
*
* <strong> y = [x, y, theta]ᵀ </strong> from vision containing x position, y
* position, and heading; or <strong> y = [theta]ᵀ </strong> containing gyro