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[wpimath] Fix pose estimator local measurement standard deviation docs (NFC) (#4113)

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Tyler Veness
2022-03-19 20:38:32 -07:00
committed by GitHub
parent a2fa5e3ff7
commit d640c0f41f
4 changed files with 14 additions and 16 deletions
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6
wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
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@@ -67,9 +67,9 @@ public class MecanumDrivePoseEstimator {
* @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
* model's state estimates less. This matrix is in the form [x, y, theta]ᵀ, with units in
* meters and radians.
* @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
* Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
* is in the form [theta], with units in radians.
* @param localMeasurementStdDevs Standard deviation of the gyro measurement. Increase this number
* to trust sensor readings from the gyro less. This matrix is in the form [theta], with units
* in radians.
* @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
* numbers to trust global measurements from vision less. This matrix is in the form [x, y,
* theta]ᵀ, with units in meters and radians.

6
wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
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@@ -67,9 +67,9 @@ public class SwerveDrivePoseEstimator {
* @param stateStdDevs Standard deviations of model states. Increase these numbers to trust your
* model's state estimates less. This matrix is in the form [x, y, theta]ᵀ, with units in
* meters and radians.
* @param localMeasurementStdDevs Standard deviations of the encoder and gyro measurements.
* Increase these numbers to trust sensor readings from encoders and gyros less. This matrix
* is in the form [theta], with units in radians.
* @param localMeasurementStdDevs Standard deviation of the gyro measurement. Increase this number
* to trust sensor readings from the gyro less. This matrix is in the form [theta], with units
* in radians.
* @param visionMeasurementStdDevs Standard deviations of the vision measurements. Increase these
* numbers to trust global measurements from vision less. This matrix is in the form [x, y,
* theta]ᵀ, with units in meters and radians.