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[wpimath] Replace UKF implementation with square root form (#4168)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Connor Worley
2022-06-08 22:19:01 -07:00
committed by GitHub
parent 45b7fc445b
commit a99c11c14c
22 changed files with 494 additions and 297 deletions
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wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
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@@ -84,6 +84,6 @@ TEST(MecanumDrivePoseEstimatorTest, Accuracy) {
t += dt;
}
EXPECT_LT(errorSum / (trajectory.TotalTime().value() / dt.value()), 0.2);
EXPECT_LT(maxError, 0.4);
EXPECT_LT(errorSum / (trajectory.TotalTime().value() / dt.value()), 0.05);
EXPECT_LT(maxError, 0.1);
}