Swap to combined voltage/encoder message for localizer
Change-Id: I23b553b142bde46c321409105d49a716eb7059b6
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2024/localizer/localizer.cc b/y2024/localizer/localizer.cc
index 441360c..a177188 100644
--- a/y2024/localizer/localizer.cc
+++ b/y2024/localizer/localizer.cc
@@ -406,11 +406,7 @@
// the camera measurement and the current estimate of the
// pose. This doesn't affect any of the math, it just makes the code a bit
// more convenient to write given the Correct() interface we already have.
- observations_.CorrectKnownH(
- Eigen::Vector3d::Zero(), &U,
- Corrector(state_at_capture.value(), H_field_target, H_robot_camera,
- H_camera_target),
- R, t_);
+ observations_.CorrectKnownH(Eigen::Vector3d::Zero(), &U, corrector, R, t_);
++total_accepted_targets_;
++cameras_.at(camera_index).total_accepted_targets;
VLOG(1) << "new state " << ekf_.X_hat().topRows<3>().transpose();