Update comment on m_visionUpdates

Author: bhall-ctre

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java

@@ -48,7 +48,9 @@ public class PoseEstimator<T> {
       TimeInterpolatableBuffer.createBuffer(kBufferDuration);
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer, unless there have
-  // been no vision measurements after the last reset
+  // been no vision measurements after the last reset. May contain one entry while
+  // m_odometryPoseBuffer is empty to correct for translation/rotation after a call to
+  // ResetRotation/ResetTranslation.
   private final NavigableMap<Double, VisionUpdate> m_visionUpdates = new TreeMap<>();
 
   private Pose2d m_poseEstimate;

wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java

@@ -56,7 +56,9 @@ public class PoseEstimator3d<T> {
       TimeInterpolatableBuffer.createBuffer(kBufferDuration);
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer, unless there have
-  // been no vision measurements after the last reset
+  // been no vision measurements after the last reset. May contain one entry while
+  // m_odometryPoseBuffer is empty to correct for translation/rotation after a call to
+  // ResetRotation/ResetTranslation.
   private final NavigableMap<Double, VisionUpdate> m_visionUpdates = new TreeMap<>();
 
   private Pose3d m_poseEstimate;

wpimath/src/main/native/include/frc/estimator/PoseEstimator.h

@@ -475,7 +475,9 @@ class WPILIB_DLLEXPORT PoseEstimator {
   TimeInterpolatableBuffer<Pose2d> m_odometryPoseBuffer{kBufferDuration};
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer,
-  // unless there have been no vision measurements after the last reset
+  // unless there have been no vision measurements after the last reset. May
+  // contain one entry while m_odometryPoseBuffer is empty to correct for
+  // translation/rotation after a call to ResetRotation/ResetTranslation.
   std::map<units::second_t, VisionUpdate> m_visionUpdates;
 
   Pose2d m_poseEstimate;

wpimath/src/main/native/include/frc/estimator/PoseEstimator3d.h

@@ -486,7 +486,9 @@ class WPILIB_DLLEXPORT PoseEstimator3d {
   TimeInterpolatableBuffer<Pose3d> m_odometryPoseBuffer{kBufferDuration};
   // Maps timestamps to vision updates
   // Always contains one entry before the oldest entry in m_odometryPoseBuffer,
-  // unless there have been no vision measurements after the last reset
+  // unless there have been no vision measurements after the last reset. May
+  // contain one entry while m_odometryPoseBuffer is empty to correct for
+  // translation/rotation after a call to ResetRotation/ResetTranslation.
   std::map<units::second_t, VisionUpdate> m_visionUpdates;
 
   Pose3d m_poseEstimate;