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[wpimath] Simplify pose estimator (#6705)

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This commit is contained in:
Joseph Eng
2024-06-28 20:12:12 -07:00
committed by GitHub
parent 5e745bc5ef
commit 512a4bfc12
4 changed files with 276 additions and 205 deletions
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7
wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
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@@ -144,6 +144,13 @@ class TimeInterpolatableBuffer {
return m_pastSnapshots;
}
/**
* Grant access to the internal sample buffer.
*/
const std::vector<std::pair<units::second_t, T>>& GetInternalBuffer() const {
return m_pastSnapshots;
}
private:
units::second_t m_historySize;
std::vector<std::pair<units::second_t, T>> m_pastSnapshots;