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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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5
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/DriveSubsystem.cpp
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@@ -103,7 +103,8 @@ frc::Pose2d DriveSubsystem::GetPose() {
void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
m_odometry.ResetPosition(
pose, units::degree_t{GetHeading()},
GetHeading(),
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_rearLeft.GetPosition(), m_rearRight.GetPosition()});
m_rearLeft.GetPosition(), m_rearRight.GetPosition()},
pose);
}