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Add an overload of resetHeadingData() which takes in a Rotation3d #2013

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Merged
samfreund merged 1 commit into from
Jul 28, 2025
Merged

Add an overload of resetHeadingData() which takes in a Rotation3d #2013

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19 changes: 16 additions & 3 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 @@ -316,7 +316,7 @@ public void setLastPose(Pose2d lastPose) {
* Add robot heading data to buffer. Must be called periodically for the
* <b>PNP_DISTANCE_TRIG_SOLVE</b> strategy.
*
* @param timestampSeconds timestamp of the robot heading data.
* @param timestampSeconds Timestamp of the robot heading data.
* @param heading Field-relative robot heading at given timestamp. Standard WPILIB field
* coordinates.
*/
Expand All @@ -328,7 +328,7 @@ public void addHeadingData(double timestampSeconds, Rotation3d heading) {
* Add robot heading data to buffer. Must be called periodically for the
* <b>PNP_DISTANCE_TRIG_SOLVE</b> strategy.
*
* @param timestampSeconds timestamp of the robot heading data.
* @param timestampSeconds Timestamp of the robot heading data.
* @param heading Field-relative robot heading at given timestamp. Standard WPILIB field
* coordinates.
*/
Expand All @@ -340,7 +340,20 @@ public void addHeadingData(double timestampSeconds, Rotation2d 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 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, Rotation3d heading) {
headingBuffer.clear();
addHeadingData(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.
*/
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