[wpimath] Add PoseEstimator.sampleAt() (#6426)

2026-06-22 01:11:42 +00:00 · 2024-04-27 21:03:37 -07:00
parent 962bf7ff10
commit cdfa2ece6f
10 changed files with 404 additions and 1 deletions
--- a/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
+++ b/wpimath/src/main/native/include/frc/interpolation/TimeInterpolatableBuffer.h
@@ -100,7 +100,7 @@ class TimeInterpolatableBuffer {
   *
   * @param time The time at which to sample the buffer.
   */
-  std::optional<T> Sample(units::second_t time) {
+  std::optional<T> Sample(units::second_t time) const {
    if (m_pastSnapshots.empty()) {
      return {};
    }