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[photon-lib] Add PhotonPoseEstimator.resetHeadingData() #1933

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Merged
samfreund merged 3 commits into from
Apr 26, 2025
Merged

[photon-lib] Add PhotonPoseEstimator.resetHeadingData() #1933

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b0ed2cb
Add PhotonPoseEstimator.clearHeadingData()
bryceroethel Apr 25, 2025
e1dda10
Format
bryceroethel Apr 25, 2025
b9793af
Require new seed
bryceroethel Apr 25, 2025
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13 changes: 13 additions & 0 deletions photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -336,6 +336,19 @@ public void addHeadingData(double timestampSeconds, Rotation2d heading) {
headingBuffer.addSample(timestampSeconds, heading);
}

/**
* Clears all heading data in the buffer, and adds a new seed. Useful for preventing estimates
* from utilizing heading data provided prior to a pose or rotation reset.
*
* @param timestampSeconds timestamp of the robot heading data.
* @param heading Field-relative robot heading at given timestamp. Standard WPILIB field
* coordinates.
*/
public void resetHeadingData(double timestampSeconds, Rotation2d heading) {
headingBuffer.clear();
addHeadingData(timestampSeconds, heading);
}

/**
* @return The current transform from the center of the robot to the camera mount position
*/
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