Odometry when tilted -> master#174
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DANNA2828
requested changes
Mar 3, 2026
| /** | ||
| * Constructs an Odometry object. | ||
| * | ||
| * @param kinematics The kinematics of the drivebase. |
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Suggested change
| * @param kinematics The kinematics of the drivebase. | |
| * @param kinematics The kinematics of the chassis. |
לא מכירה שימוש בdrivebase אבל אולי אני טועה
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| Transform2d delta = new Transform2d(lastPose, rawPose); | ||
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| Pose2d corrected = lastPose.plus(new Transform2d(delta.getTranslation().times(scale), delta.getRotation())); |
| // in case angle above 90 so wont minus , i dont think pose is relevant when robot flips | ||
| double scale = Math.max(0, Math.cos(angles.rotateBy(new Rotation3d(0, 0, -angles.getZ())).getY())); | ||
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| Transform2d delta = new Transform2d(lastPose, rawPose); |
GilStein1
reviewed
Mar 3, 2026
YoniKiriaty
reviewed
Mar 8, 2026
| Transform2d unCompensatedDistance = new Transform2d(lastPose, unCompensatedPose); | ||
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| Pose2d compensatedByPitch = lastPose | ||
| .plus(new Transform2d(unCompensatedDistance.getTranslation().times(scale), unCompensatedDistance.getRotation())); |
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consider just doing
unCompensatedDistance.times(scale)
itayzukin
reviewed
Apr 3, 2026
Comment on lines
+44
to
+45
| if (robotOrientationSupplier == null) | ||
| return unCompensatedPose; |
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Why check if null?
Why not check if everything else is null?
Author
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outdated
already changed the whole thing
Author
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have no time to update it right now
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