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[wpimath] Add constructors to pose estimators with default standard deviations (#4754)

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This commit is contained in:
superpenguin612
2022-12-03 12:46:10 -05:00
committed by GitHub
parent 13cdc29382
commit 37e969b41a
8 changed files with 166 additions and 0 deletions
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8
wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
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@@ -38,6 +38,14 @@ DifferentialDrivePoseEstimator::InterpolationRecord::Interpolate(
}
}
DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
DifferentialDriveKinematics& kinematics, const Rotation2d& gyroAngle,
units::meter_t leftDistance, units::meter_t rightDistance,
const Pose2d& initialPose)
: DifferentialDrivePoseEstimator{
kinematics, gyroAngle, leftDistance, rightDistance,
initialPose, {0.02, 0.02, 0.01}, {0.1, 0.1, 0.1}} {}
DifferentialDrivePoseEstimator::DifferentialDrivePoseEstimator(
DifferentialDriveKinematics& kinematics, const Rotation2d& gyroAngle,
units::meter_t leftDistance, units::meter_t rightDistance,

7
wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
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@@ -51,6 +51,13 @@ frc::MecanumDrivePoseEstimator::InterpolationRecord::Interpolate(
}
}
frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
MecanumDriveKinematics& kinematics, const Rotation2d& gyroAngle,
const MecanumDriveWheelPositions& wheelPositions, const Pose2d& initialPose)
: MecanumDrivePoseEstimator{kinematics, gyroAngle,
wheelPositions, initialPose,
{0.1, 0.1, 0.1}, {0.45, 0.45, 0.45}} {}
frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
MecanumDriveKinematics& kinematics, const Rotation2d& gyroAngle,
const MecanumDriveWheelPositions& wheelPositions, const Pose2d& initialPose,