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[wpimath] Fix C++ pose estimator poseEstimate initialization (#7249)

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This commit is contained in:
Joseph Eng
2024-10-21 22:29:04 -07:00
committed by GitHub
parent 40af8db28a
commit 6745fc7c2f
7 changed files with 42 additions and 9 deletions
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5
wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
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@@ -45,6 +45,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
/**
* Constructs a PoseEstimator.
*
* @warning The initial pose estimate will always be the default pose,
* regardless of the odometry's current pose.
*
* @param kinematics A correctly-configured kinematics object for your
* drivetrain.
* @param odometry A correctly-configured odometry object for your drivetrain.
@@ -60,7 +63,7 @@ class WPILIB_DLLEXPORT PoseEstimator {
Odometry<WheelSpeeds, WheelPositions>& odometry,
const wpi::array<double, 3>& stateStdDevs,
const wpi::array<double, 3>& visionMeasurementStdDevs)
: m_odometry(odometry), m_poseEstimate(m_odometry.GetPose()) {
: m_odometry(odometry) {
for (size_t i = 0; i < 3; ++i) {
m_q[i] = stateStdDevs[i] * stateStdDevs[i];
}

4
wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
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@@ -85,7 +85,9 @@ class SwerveDrivePoseEstimator
: PoseEstimator<wpi::array<SwerveModuleState, NumModules>,
wpi::array<SwerveModulePosition, NumModules>>(
kinematics, m_odometryImpl, stateStdDevs, visionMeasurementStdDevs),
m_odometryImpl{kinematics, gyroAngle, modulePositions, initialPose} {}
m_odometryImpl{kinematics, gyroAngle, modulePositions, initialPose} {
this->ResetPose(initialPose);
}
private:
SwerveDriveOdometry<NumModules> m_odometryImpl;