Perform basic turret auto-aiming
Implements a basic aimer which will shoot balls straight at the origin.
This still leaves a variety of things to be done:
-Actually shooting at the correct coordinates.
-Choosing between whether to shoot at the 2-point goal or 3-point goal.
-Managing turret wrap/redundancy intelligently.
-Shooting on the fly.
Change-Id: If4fc6249951faa5300411a0ca7d29da9e11dbb15
diff --git a/frc971/control_loops/pose.h b/frc971/control_loops/pose.h
index 20672cf..6b6628d 100644
--- a/frc971/control_loops/pose.h
+++ b/frc971/control_loops/pose.h
@@ -134,7 +134,7 @@
// If new_base == nullptr, provides a Pose referenced to the global frame.
// Note that the lifetime of new_base should be greater than the lifetime of
// the returned object (unless new_base == nullptr).
- TypedPose Rebase(const TypedPose<Scalar> *new_base) const;
+ [[nodiscard]] TypedPose Rebase(const TypedPose<Scalar> *new_base) const;
// Convert this pose to the heading/distance/skew numbers that we
// traditionally use for EKF corrections.