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[wpilib] Add pose estimators (#2867)

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Pose and state estimators can filter latency-compensated global measurements and fuse them with state-space drivetrain model information to estimate robot position. They are drop-in replacements for the existing odometry classes.

Co-authored-by: Declan Freeman-Gleason <declanfreemangleason@gmail.com>
Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
Co-authored-by: Claudius Tewari <cttewari@gmail.com>
Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Declan Freeman-Gleason
2020-11-28 17:35:35 -05:00
committed by GitHub
parent 3413bfc06a
commit bc8f338771
58 changed files with 4958 additions and 39 deletions
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49
wpilibcExamples/src/main/cpp/examples/examples.json
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@@ -628,6 +628,38 @@
"mainclass": "Main",
"commandversion": 2
},
{
"name": "DifferentialDrivePoseEstimator",
"description": "Demonstrates the use of the DifferentialDrivePoseEstimator as a replacement for differential drive odometry.",
"tags": [
"Drivetrain",
"State space",
"Vision",
"Filter",
"Odometry",
"Pose"
],
"foldername": "DifferentialDrivePoseEstimator",
"gradlebase": "cpp",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "MecanumDrivePoseEstimator",
"description": "Demonstrates the use of the MecanumDrivePoseEstimator as a replacement for mecanum odometry.",
"tags": [
"Drivetrain",
"State space",
"Vision",
"Filter",
"Odometry",
"Pose"
],
"foldername": "MecanumDrivePoseEstimator",
"gradlebase": "cpp",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "ArmSimulation",
"description": "Demonstrates the use of physics simulation with a simple single-jointed arm.",
@@ -661,5 +693,22 @@
"gradlebase": "cpp",
"mainclass": "Main",
"commandversion": 2
},
{
"name": "SwerveDrivePoseEstimator",
"description": "Demonstrates the use of the SwerveDrivePoseEstimator as a replacement for mecanum drive odometry.",
"tags": [
"Drivetrain",
"State space",
"Vision",
"Filter",
"Odometry",
"State",
"Swerve"
],
"foldername": "SwerveDrivePoseEstimator",
"gradlebase": "cpp",
"mainclass": "Main",
"commandversion": 2
}
]