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

classes:
  wpi::math::Odometry3d:
    template_params:
    - WheelSpeeds
    - WheelPositions
    methods:
      Odometry3d:
      ResetPosition:
      ResetPose:
      ResetTranslation:
      ResetRotation:
      GetPose:
      Update:


templates:
  DifferentialDriveOdometry3dBase:
    qualname: wpi::math::Odometry3d
    params:
    - wpi::math::DifferentialDriveWheelSpeeds
    - wpi::math::DifferentialDriveWheelPositions
  MecanumDriveOdometry3dBase:
    qualname: wpi::math::Odometry3d
    params:
    - wpi::math::MecanumDriveWheelSpeeds
    - wpi::math::MecanumDriveWheelPositions
  SwerveDrive2Odometry3dBase:
    qualname: wpi::math::Odometry3d
    params:
    - wpi::util::array<wpi::math::SwerveModuleState,2>
    - wpi::util::array<wpi::math::SwerveModulePosition,2>
  SwerveDrive3Odometry3dBase:
    qualname: wpi::math::Odometry3d
    params:
    - wpi::util::array<wpi::math::SwerveModuleState,3>
    - wpi::util::array<wpi::math::SwerveModulePosition,3>
  SwerveDrive4Odometry3dBase:
    qualname: wpi::math::Odometry3d
    params:
    - wpi::util::array<wpi::math::SwerveModuleState,4>
    - wpi::util::array<wpi::math::SwerveModulePosition,4>
  SwerveDrive6Odometry3dBase:
    qualname: wpi::math::Odometry3d
    params:
    - wpi::util::array<wpi::math::SwerveModuleState,6>
    - wpi::util::array<wpi::math::SwerveModulePosition,6>