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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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2
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
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@@ -51,9 +51,9 @@ class Drivetrain {
// robot!
frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
frc::Rotation2d{},
frc::Pose2d{},
{m_frontLeft.GetPosition(), m_frontRight.GetPosition(),
m_backLeft.GetPosition(), m_backRight.GetPosition()},
frc::Pose2d{},
m_kinematics,
{0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1},
{0.05, 0.05, 0.05, 0.05, 0.05},