Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +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

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},