This saves on a deep copy of the wheel positions in Odometry.resetPosition() and Odometry.update(), and by extension PoseEstimator.resetPosition() and PoseEstimator.update(). Notably, for a 4 module swerve that's 5 object allocations (1 for the array and 1 per module), which given that update() is typically called every single robot loop can add up relatively quickly. It also doesn't effect what few custom kinematics implementations there are, since you could use the defaulted implementation.
This saves on a deep copy of the wheel positions in
Odometry.resetPosition()andOdometry.update(), and by extensionPoseEstimator.resetPosition()andPoseEstimator.update(). Notably, for a 4 module swerve that's 5 object allocations (1 for the array and 1 per module), which given thatupdate()is typically called every single robot loop can add up relatively quickly. It also doesn't effect what few custom kinematics implementations there are, since you could use the defaulted implementation.