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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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18
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -232,6 +232,24 @@ Eigen::Matrix<double, N, 1> MakeWhiteNoiseVector(
return result;
}
/**
* Converts a Pose2d into a vector of [x, y, theta].
*
* @param pose The pose that is being represented.
*
* @return The vector.
*/
Eigen::Matrix<double, 3, 1> PoseTo3dVector(const Pose2d& pose);
/**
* Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
*
* @param pose The pose that is being represented.
*
* @return The vector.
*/
Eigen::Matrix<double, 4, 1> PoseTo4dVector(const Pose2d& pose);
/**
* Returns true if (A, B) is a stabilizable pair.
*