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[wpimath] Fix exception for empty pose buffer in pose estimators #5106

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merged 1 commit into from
Feb 17, 2023
Merged

[wpimath] Fix exception for empty pose buffer in pose estimators #5106

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7 changes: 6 additions & 1 deletion wpimath/src/main/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.Map;
import java.util.NoSuchElementException;
import java.util.Objects;

/**
Expand Down Expand Up @@ -190,7 +191,11 @@ public Pose2d getEstimatedPosition() {
*/
public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
// Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
try {
if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
return;
}
} catch (NoSuchElementException ex) {
return;
}

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7 changes: 6 additions & 1 deletion wpimath/src/main/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.Map;
import java.util.NoSuchElementException;
import java.util.Objects;

/**
Expand Down Expand Up @@ -178,7 +179,11 @@ public Pose2d getEstimatedPosition() {
*/
public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
// Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
try {
if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
return;
}
} catch (NoSuchElementException ex) {
return;
}

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7 changes: 6 additions & 1 deletion wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
import edu.wpi.first.util.WPIUtilJNI;
import java.util.Arrays;
import java.util.Map;
import java.util.NoSuchElementException;
import java.util.Objects;

/**
Expand Down Expand Up @@ -180,7 +181,11 @@ public Pose2d getEstimatedPosition() {
*/
public void addVisionMeasurement(Pose2d visionRobotPoseMeters, double timestampSeconds) {
// Step 0: If this measurement is old enough to be outside the pose buffer's timespan, skip.
if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
try {
if (m_poseBuffer.getInternalBuffer().lastKey() - kBufferDuration > timestampSeconds) {
return;
}
} catch (NoSuchElementException ex) {
return;
}

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5 changes: 3 additions & 2 deletions wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -96,8 +96,9 @@ void DifferentialDrivePoseEstimator::AddVisionMeasurement(
const Pose2d& visionRobotPose, units::second_t timestamp) {
// Step 0: If this measurement is old enough to be outside the pose buffer's
// timespan, skip.
if (m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
timestamp) {
if (!m_poseBuffer.GetInternalBuffer().empty() &&
m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
timestamp) {
return;
}

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5 changes: 3 additions & 2 deletions wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,8 +107,9 @@ void frc::MecanumDrivePoseEstimator::AddVisionMeasurement(
const Pose2d& visionRobotPose, units::second_t timestamp) {
// Step 0: If this measurement is old enough to be outside the pose buffer's
// timespan, skip.
if (m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
timestamp) {
if (!m_poseBuffer.GetInternalBuffer().empty() &&
m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
timestamp) {
return;
}

Expand Down
5 changes: 3 additions & 2 deletions wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -172,8 +172,9 @@ class SwerveDrivePoseEstimator {
units::second_t timestamp) {
// Step 0: If this measurement is old enough to be outside the pose buffer's
// timespan, skip.
if (m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
timestamp) {
if (!m_poseBuffer.GetInternalBuffer().empty() &&
m_poseBuffer.GetInternalBuffer().front().first - kBufferDuration >
timestamp) {
return;
}

Expand Down