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[wpimath] Rework odometry APIs to improve feature parity (#4645)

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Co-authored-by: Ryan Blue <ryanzblue@gmail.com>
This commit is contained in:
Jordan McMichael
2022-11-18 23:42:00 -05:00
committed by GitHub
parent e2d49181da
commit 902e8686d3
53 changed files with 266 additions and 157 deletions
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4
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
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@@ -109,5 +109,7 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
ResetEncoders();
m_drivetrainSimulator.SetPose(pose);
m_odometry.ResetPosition(pose, m_gyro.GetRotation2d());
m_odometry.ResetPosition(m_gyro.GetRotation2d(),
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}, pose);
}

4
wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/include/subsystems/DriveSubsystem.h
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@@ -154,7 +154,9 @@ class DriveSubsystem : public frc2::SubsystemBase {
frc::ADXRS450_Gyro m_gyro;
// Odometry class for tracking robot pose
frc::DifferentialDriveOdometry m_odometry{m_gyro.GetRotation2d()};
frc::DifferentialDriveOdometry m_odometry{
m_gyro.GetRotation2d(), units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()}};
// These classes help simulate our drivetrain.
frc::sim::DifferentialDrivetrainSim m_drivetrainSimulator{