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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
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
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@@ -18,6 +18,8 @@
TEST(DifferentialDrivePoseEstimatorTest, Accuracy) {
frc::DifferentialDrivePoseEstimator estimator{frc::Rotation2d{},
0_m,
0_m,
frc::Pose2d{},
{0.02, 0.02, 0.01, 0.02, 0.02},
{0.01, 0.01, 0.001},

4
wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
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@@ -19,8 +19,8 @@ TEST(MecanumDrivePoseEstimatorTest, AccuracyFacingTrajectory) {
frc::MecanumDriveWheelPositions wheelPositions;
frc::MecanumDrivePoseEstimator estimator{frc::Rotation2d{},
frc::Pose2d{},
wheelPositions,
frc::Pose2d{},
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},
@@ -103,8 +103,8 @@ TEST(MecanumDrivePoseEstimatorTest, AccuracyFacingXAxis) {
frc::MecanumDriveWheelPositions wheelPositions;
frc::MecanumDrivePoseEstimator estimator{frc::Rotation2d{},
frc::Pose2d{},
wheelPositions,
frc::Pose2d{},
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},

4
wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
View File

@@ -23,8 +23,8 @@ TEST(SwerveDrivePoseEstimatorTest, AccuracyFacingTrajectory) {
frc::SwerveDrivePoseEstimator<4> estimator{
frc::Rotation2d{},
frc::Pose2d{},
{fl, fr, bl, br},
frc::Pose2d{},
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},
@@ -115,8 +115,8 @@ TEST(SwerveDrivePoseEstimatorTest, AccuracyFacingXAxis) {
frc::SwerveDrivePoseEstimator<4> estimator{
frc::Rotation2d{},
frc::Pose2d{},
{fl, fr, bl, br},
frc::Pose2d{},
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},