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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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wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
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@@ -13,7 +13,7 @@ static constexpr double kEpsilon = 1E-9;
using namespace frc;
TEST(DifferentialDriveOdometryTest, EncoderDistances) {
DifferentialDriveOdometry odometry{45_deg};
DifferentialDriveOdometry odometry{45_deg, 0_m, 0_m};
const auto& pose =
odometry.Update(135_deg, 0_m, units::meter_t{5 * std::numbers::pi});