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Add getters for pose in odometry classes (#1943)

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This commit is contained in:
Prateek Machiraju
2019-10-18 10:58:22 -04:00
committed by Peter Johnson
parent 2402c2bad7
commit 63cfa64fb3
6 changed files with 42 additions and 0 deletions
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6
wpilibc/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
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@@ -47,6 +47,12 @@ class DifferentialDriveOdometry {
m_previousAngle = pose.Rotation();
}
/**
* Returns the position of the robot on the field.
* @return The pose of the robot.
*/
const Pose2d& GetPose() const { return m_pose; }
/**
* Updates the robot's position on the field using forward kinematics and
* integration of the pose over time. This method takes in the current time as

6
wpilibc/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
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@@ -45,6 +45,12 @@ class MecanumDriveOdometry {
m_previousAngle = pose.Rotation();
}
/**
* Returns the position of the robot on the field.
* @return The pose of the robot.
*/
const Pose2d& GetPose() const { return m_pose; }
/**
* Updates the robot's position on the field using forward kinematics and
* integration of the pose over time. This method takes in the current time as

6
wpilibc/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
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@@ -50,6 +50,12 @@ class SwerveDriveOdometry {
m_previousAngle = pose.Rotation();
}
/**
* Returns the position of the robot on the field.
* @return The pose of the robot.
*/
const Pose2d& GetPose() const { return m_pose; }
/**
* Updates the robot's position on the field using forward kinematics and
* integration of the pose over time. This method takes in the current time as