Make 2020 Localizer to process ImageMatchResult's
This should provide a localizer that can correctly consume the vision
processing results coming from the Pi's. It does not actually start up
this localizer yet, atlhough that should just be a 1-line change in
y2020/control_loops/drivetrain/drivetrain_main.cc.
Change-Id: Iea8aa50774932ebf19d89ca3a3f4b9cd12dfe446
diff --git a/frc971/control_loops/drivetrain/localizer.h b/frc971/control_loops/drivetrain/localizer.h
index d1778b6..43462b8 100644
--- a/frc971/control_loops/drivetrain/localizer.h
+++ b/frc971/control_loops/drivetrain/localizer.h
@@ -36,9 +36,10 @@
// Defines an interface for classes that provide field-global localization.
class LocalizerInterface {
+ public:
typedef HybridEkf<double> Ekf;
typedef typename Ekf::StateIdx StateIdx;
- public:
+
// Perform a single step of the filter, using the information that is
// available on every drivetrain iteration.
// The user should pass in the U that the real system experienced from the
@@ -124,9 +125,6 @@
// This provides no method for using cameras or the such to get global
// measurements and just assumes that you can dead-reckon perfectly.
class DeadReckonEkf : public LocalizerInterface {
- typedef HybridEkf<double> Ekf;
- typedef typename Ekf::StateIdx StateIdx;
-
public:
DeadReckonEkf(::aos::EventLoop *event_loop,
const DrivetrainConfig<double> &dt_config)