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[wpimath] Add 3d odometry and pose estimation #7119
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Timing summary is below. I'm skeptical of the results, though, given the large disparity between C++ debug and Java debug, and the very low difference between release and debug. If someone knows of any pitfalls in running tests in release vs debug mode in cmake, please let me know so I can try to run the tests more accurately:
Below are snippets from running tests on 6a13f34:
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Opening mostly just to get the code out there.
Resolves #4933.
Still needs to be timed to determine whether the performance is good enough to always use 3D or if we need to maintain a separate 2D implementation to not affect performance for the 2D case too much. Local accuracy tests show very similar results, though, on the order of 1e-12 meters and 1e-12 radians. (Local accuracy tests were done by adding some logging code to
testFollowTrajectory()
inSwerveDrivePoseEstimatorTest.cpp
, copying intoSwerveDrivePoseEstimator3dTest.cpp
, replacingSwerveDrivePoseEstimator
withSwerveDrivePoseEstimator3d
, and then running tests. Hopefully in the next few weeks I can document the process more precisely.)Also needs 3D-specific tests added at some point.