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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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7
wpimath/src/main/native/cpp/kinematics/DifferentialDriveOdometry.cpp
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@@ -9,8 +9,11 @@
using namespace frc;
DifferentialDriveOdometry::DifferentialDriveOdometry(
const Rotation2d& gyroAngle, const Pose2d& initialPose)
: m_pose(initialPose) {
const Rotation2d& gyroAngle, units::meter_t leftDistance,
units::meter_t rightDistance, const Pose2d& initialPose)
: m_pose(initialPose),
m_prevLeftDistance(leftDistance),
m_prevRightDistance(rightDistance) {
m_previousAngle = m_pose.Rotation();
m_gyroOffset = m_pose.Rotation() - gyroAngle;
wpi::math::MathSharedStore::ReportUsage(

4
wpimath/src/main/native/cpp/kinematics/MecanumDriveOdometry.cpp
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@@ -10,7 +10,7 @@ using namespace frc;
MecanumDriveOdometry::MecanumDriveOdometry(
MecanumDriveKinematics kinematics, const Rotation2d& gyroAngle,
const MecanumDriveWheelPositions wheelPositions, const Pose2d& initialPose)
const MecanumDriveWheelPositions& wheelPositions, const Pose2d& initialPose)
: m_kinematics(kinematics),
m_pose(initialPose),
m_previousWheelPositions(wheelPositions) {
@@ -22,7 +22,7 @@ MecanumDriveOdometry::MecanumDriveOdometry(
const Pose2d& MecanumDriveOdometry::Update(
const Rotation2d& gyroAngle,
const MecanumDriveWheelPositions wheelPositions) {
const MecanumDriveWheelPositions& wheelPositions) {
auto angle = gyroAngle + m_gyroOffset;
MecanumDriveWheelPositions wheelDeltas{