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Cleanup Docs for PhotonPoseEstimator #1795

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spacey-sooty merged 4 commits into from
Mar 4, 2025
Merged

Cleanup Docs for PhotonPoseEstimator #1795

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Cleanup Docs for PhotonPoseEstimator
JuliusZhou124 Feb 26, 2025
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Update docs/source/docs/programming/photonlib/robot-pose-estimator.md
JuliusZhou124 Mar 3, 2025
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Change to Rotation2d
JuliusZhou124 Mar 3, 2025
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Merge branch 'main' into update-photonposeestimator
JuliusZhou124 Mar 3, 2025
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6 changes: 5 additions & 1 deletion docs/source/docs/programming/photonlib/robot-pose-estimator.md
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Expand Up @@ -32,7 +32,7 @@ The API documentation can be found in here: [Java](https://github.wpilib.org/all

## Creating a `PhotonPoseEstimator`

The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above), `PoseStrategy`, `PhotonCamera`, and `Transform3d`. `PoseStrategy` has six possible values:
The PhotonPoseEstimator has a constructor that takes an `AprilTagFieldLayout` (see above), `PoseStrategy`, `PhotonCamera`, and `Transform3d`. `PoseStrategy` has nine possible values:

- MULTI_TAG_PNP_ON_COPROCESSOR
- Calculates a new robot position estimate by combining all visible tag corners. Recommended for all teams as it will be the most accurate.
Expand Down Expand Up @@ -155,3 +155,7 @@ Updates the stored reference pose when using the CLOSEST_TO_REFERENCE_POSE strat
### `setLastPose(Pose3d lastPose)`

Update the stored last pose. Useful for setting the initial estimate when using the CLOSEST_TO_LAST_POSE strategy.

### `addHeadingData(double timestampSeconds, Rotation2d heading)`

Adds robot heading data to be stored in buffer. Must be called periodically with a proper timestamp for the PNP_DISTANCE_TRIG_SOLVE and CONSTRAINED_SOLVEPNP strategies
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