Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-27 02:01:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

15
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
View File

@@ -27,24 +27,35 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry {
/**
* Constructs a DifferentialDriveOdometry object.
*
* IF leftDistance and rightDistance are unspecified,
* You NEED to reset your encoders (to zero).
*
* @param gyroAngle The angle reported by the gyroscope.
* @param leftDistance The distance traveled by the left encoder.
* @param rightDistance The distance traveled by the right encoder.
* @param initialPose The starting position of the robot on the field.
*/
explicit DifferentialDriveOdometry(const Rotation2d& gyroAngle,
units::meter_t leftDistance,
units::meter_t rightDistance,
const Pose2d& initialPose = Pose2d{});
/**
* Resets the robot's position on the field.
*
* You NEED to reset your encoders (to zero) when calling this method.
* IF leftDistance and rightDistance are unspecified,
* You NEED to reset your encoders (to zero).
*
* The gyroscope angle does not need to be reset here on the user's robot
* code. The library automatically takes care of offsetting the gyro angle.
*
* @param pose The position on the field that your robot is at.
* @param gyroAngle The angle reported by the gyroscope.
* @param leftDistance The distance traveled by the left encoder.
* @param rightDistance The distance traveled by the right encoder.
*/
void ResetPosition(const Pose2d& pose, const Rotation2d& gyroAngle) {
void ResetPosition(const Rotation2d& gyroAngle, units::meter_t leftDistance,
units::meter_t rightDistance, const Pose2d& pose) {
m_pose = pose;
m_previousAngle = pose.Rotation();
m_gyroOffset = m_pose.Rotation() - gyroAngle;