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[wpimath] Use Odometry for internal state in Pose Estimation (#4668)

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This effectively replaces the Unscented Kalman Filter used for Pose Estimation with the Odometry model, and uses a recalculable Kalman gain matrix to update pose estimations whenever a vision measurement is added.

Notably, this change removes the need for the confusing generics used in Java, and the C++ implementation got quite a bit less complex as well.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Jordan McMichael
2022-12-02 11:36:10 -05:00
committed by GitHub
parent 68dba92630
commit e22d8cc343
35 changed files with 2288 additions and 1884 deletions
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wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
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@@ -60,8 +60,8 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry {
m_previousAngle = pose.Rotation();
m_gyroOffset = m_pose.Rotation() - gyroAngle;
m_prevLeftDistance = 0_m;
m_prevRightDistance = 0_m;
m_prevLeftDistance = leftDistance;
m_prevRightDistance = rightDistance;
}
/**