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Use transforms when applying vision pose #13

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merged 2 commits into from
Feb 16, 2024
Merged

Use transforms when applying vision pose #13

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080d70e
Use transforms when applying vision pose
suryatho Feb 14, 2024
82f0db4
Fix comment
jwbonner Feb 16, 2024
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18 changes: 12 additions & 6 deletions src/main/java/org/littletonrobotics/frc2024/RobotState.java
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Original file line number Diff line number Diff line change
Expand Up @@ -143,15 +143,21 @@ public void addVisionObservation(VisionObservation observation) {
}
}
// difference between estimate and vision pose
Twist2d twist = estimateAtTime.log(observation.visionPose());
// scale twist by visionK
var kTimesTwist = visionK.times(VecBuilder.fill(twist.dx, twist.dy, twist.dtheta));
Twist2d scaledTwist =
new Twist2d(kTimesTwist.get(0, 0), kTimesTwist.get(1, 0), kTimesTwist.get(2, 0));
Transform2d transform = new Transform2d(estimateAtTime, observation.visionPose());
// scale transform by visionK
var kTimesTransform =
visionK.times(
VecBuilder.fill(
transform.getX(), transform.getY(), transform.getRotation().getRadians()));
Transform2d scaledTransform =
new Transform2d(
kTimesTransform.get(0, 0),
kTimesTransform.get(1, 0),
Rotation2d.fromRadians(kTimesTransform.get(2, 0)));

// Recalculate current estimate by applying scaled twist to old estimate
// then replaying odometry data
estimatedPose = estimateAtTime.exp(scaledTwist).plus(sampleToOdometryTransform);
estimatedPose = estimateAtTime.plus(scaledTransform).plus(sampleToOdometryTransform);
}

public void addVelocityData(Twist2d robotVelocity) {
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