Improve atPose clarity, routine-active safety, alliance-flipping safety #981
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shueja
changed the title
Daniel1464
suggested changes
Dec 6, 2024
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| private Supplier<Optional<Pose2d>> optionalFlipped(Optional<Pose2d> pose) { | ||
| return AllianceFlipUtil.optionalFlipped(pose, alliance, useAllianceFlipping); | ||
| public Trigger atTranslationFlipped(Pose2d pose, double toleranceMeters) { |
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I think u should rename "atTranslationFlipped" to "atTranslation" and "atTranslation" to "atAbsoluteTranslation";
most of the time, people want the pose to be flipped.
For it's namesake, an atTranslation(Translation2d) overload should exist too.
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The existing methods don't check rotation. TODO: add atPose that checks rotation
Also reorganize these to better handle alliance-dependent poses.
Makes
AutoTrajectory.allianceFlipped(Optional<Pose2d>)and `allianceFlipped(Pose2d)' public.