defaults:
  subpackage: estimator

extra_includes:
- frc/kinematics/DifferentialDriveWheelPositions.h
- frc/kinematics/DifferentialDriveWheelSpeeds.h
- frc/kinematics/MecanumDriveWheelPositions.h
- frc/kinematics/MecanumDriveWheelSpeeds.h
- frc/kinematics/SwerveDriveKinematics.h


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

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