extra_includes:
- wpi/math/kinematics/DifferentialDriveWheelAccelerations.hpp
- wpi/math/kinematics/DifferentialDriveWheelPositions.hpp
- wpi/math/kinematics/DifferentialDriveWheelSpeeds.hpp
- wpi/math/kinematics/MecanumDriveWheelAccelerations.hpp
- wpi/math/kinematics/MecanumDriveWheelPositions.hpp
- wpi/math/kinematics/MecanumDriveWheelSpeeds.hpp
- wpi/math/kinematics/SwerveModuleAcceleration.hpp
- wpi/math/kinematics/SwerveDriveKinematics.hpp


classes:
  wpi::math::PoseEstimator:
    template_params:
    - WheelPositions
    - WheelSpeeds
    - WheelAccelerations
    methods:
      PoseEstimator:
      SetVisionMeasurementStdDevs:
      ResetPosition:
      ResetPose:
      ResetTranslation:
      ResetRotation:
      GetEstimatedPosition:
      SampleAt:
      AddVisionMeasurement:
        overloads:
          const Pose2d&, wpi::units::second_t:
          const Pose2d&, wpi::units::second_t, const wpi::util::array<double, 3>&:
      Update:
      UpdateWithTime:

templates:
  DifferentialDrivePoseEstimatorBase:
    qualname: wpi::math::PoseEstimator
    params:
    - wpi::math::DifferentialDriveWheelPositions
    - wpi::math::DifferentialDriveWheelSpeeds
    - wpi::math::DifferentialDriveWheelAccelerations
  MecanumDrivePoseEstimatorBase:
    qualname: wpi::math::PoseEstimator
    params:
    - wpi::math::MecanumDriveWheelPositions
    - wpi::math::MecanumDriveWheelSpeeds
    - wpi::math::MecanumDriveWheelAccelerations
  SwerveDrive2PoseEstimatorBase:
    qualname: wpi::math::PoseEstimator
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,2>
    - wpi::util::array<wpi::math::SwerveModuleState,2>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,2>
  SwerveDrive3PoseEstimatorBase:
    qualname: wpi::math::PoseEstimator
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,3>
    - wpi::util::array<wpi::math::SwerveModuleState,3>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,3>
  SwerveDrive4PoseEstimatorBase:
    qualname: wpi::math::PoseEstimator
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,4>
    - wpi::util::array<wpi::math::SwerveModuleState,4>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,4>
  SwerveDrive6PoseEstimatorBase:
    qualname: wpi::math::PoseEstimator
    params:
    - wpi::util::array<wpi::math::SwerveModulePosition,6>
    - wpi::util::array<wpi::math::SwerveModuleState,6>
    - wpi::util::array<wpi::math::SwerveModuleAcceleration,6>