After replacing the remaining include guards with `#pragma once`, I was
able to merge all the wpiformat configs into one file in the repo root.
This should make the config easier to reason about and maintain in the
future.
The spiraling issue occurs when the vision rotation standard deviation is very high relative to the odometry rotation standard deviation and the vision measurements have a large rotation error. (Scaling the rotation component of a twist without scaling the translation component causes the direction of overall translation to change, leading to spiraling around (either towards or away) the vision measurement instead of moving towards it.) Using a transform instead of a twist avoids this issue.
In general, scaling twist components is more mathematically correct than scaling transform components. However, although twists are correct for modeling uncertainty in an odometry-only pose estimate, they are not correct for the difference between the odometry-only pose estimate and a vision measurement. Since neither twists nor transforms are completely correct (and the pose estimator as a whole is not mathematically correct), but using transforms can guarantee that the pose estimate approaches the vision measurement (instead of potentially spiraling away), they are the least bad option.
clang-format 21 made some formatting changes. Since wpiformat's stdlib
task was removed, I removed NOLINT comments for it and removed some
std:: prefixes it added to comments.
GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a
This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep
This excludes cscore and the halsim wrappers for at this time.
NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.
Upstream no longer seems to have the commit we were pointing to. We'll
just use the tag since that hasn't changed since the official release
announcement.
