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[wpilib] Add timestamp getters with configurable time base (#7378)

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This commit is contained in:
Jonah Bonner
2024-11-16 10:43:38 -05:00
committed by GitHub
parent 91142ba5fe
commit ca51197486
27 changed files with 180 additions and 53 deletions
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8
wpimath/src/main/native/include/frc/estimator/PoseEstimator.h
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@@ -228,8 +228,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
* that if you don't use your own time source by calling UpdateWithTime(),
* then you must use a timestamp with an epoch since FPGA startup (i.e.,
* the epoch of this timestamp is the same epoch as
* frc::Timer::GetFPGATimestamp(). This means that you should use
* frc::Timer::GetFPGATimestamp() as your time source in this case.
* frc::Timer::GetTimestamp(). This means that you should use
* frc::Timer::GetTimestamp() as your time source in this case.
*/
void AddVisionMeasurement(const Pose2d& visionRobotPose,
units::second_t timestamp) {
@@ -311,8 +311,8 @@ class WPILIB_DLLEXPORT PoseEstimator {
* that if you don't use your own time source by calling UpdateWithTime(),
* then you must use a timestamp with an epoch since FPGA startup (i.e.,
* the epoch of this timestamp is the same epoch as
* frc::Timer::GetFPGATimestamp(). This means that you should use
* frc::Timer::GetFPGATimestamp() as your time source in this case.
* frc::Timer::GetTimestamp(). This means that you should use
* frc::Timer::GetTimestamp() as your time source in this case.
* @param visionMeasurementStdDevs Standard deviations of the vision pose
* measurement (x position in meters, y position in meters, and heading in
* radians). Increase these numbers to trust the vision pose measurement