Implemented a feature so that the ball update is a bit better than before. The idea is the to calculate the distance between the robot that has a breakbeam trigger and the ball. If that distance is too big, we know for sure that the breakbeam is at fault and we ignore updating the ball using the position of the robot!
Testing Done
Write some stuff in the src/software/sensor_fusion/sensor_fusion_test.cpp . Probably needs field testing. I am ran thunderscope and thunderscope seems to be stable.
Resolved Issues
resolves #3197
Length Justification and Key Files to Review
N/A
Review Checklist
[X] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
[X] Remove all commented out code
[X] Remove extra print statements: for example, those just used for testing
[X] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue
Description
Implemented a feature so that the ball update is a bit better than before. The idea is the to calculate the distance between the robot that has a breakbeam trigger and the ball. If that distance is too big, we know for sure that the breakbeam is at fault and we ignore updating the ball using the position of the robot!
Testing Done
Write some stuff in the
src/software/sensor_fusion/sensor_fusion_test.cpp. Probably needs field testing. I am ran thunderscope and thunderscope seems to be stable.Resolved Issues
resolves #3197
Length Justification and Key Files to Review
N/A
Review Checklist
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue