Joseph Eng

I don't know if it'd be easier (for when development and main are reconciled after the season) to a) merge #6377 and this PR separately into their respective branches or...

Closing in favor of #6550.

We should add a test for resetting the gyro angle when the sim angles are nonzero- I'm pretty sure that's broken now since we don't reset the sim angles (like...

Where does the internal pose buffer come into play? I'd think that it'd be simpler to maintain a separate history of the gyro poses and then look those up to...

Based on your description, the data you want (gyro measurements) isn't obtained from the pose estimator- It's just obtained from the gyro, and since it's not tied to any pose...

The way adding vision measurements to the pose estimator works is that it gets the estimated state of the robot at some time in the past, shifts the pose estimate...

Though I'm still a bit confused about the conversation about the use case mentioned (see below), I do agree that being able to sample the pose estimate at earlier timestamps...

Would it be reasonable to change `Command.m_requirements` to private instead of protected after this? (Potentially in a separate PR)

PMD in the [Java format CI](https://github.com/wpilibsuite/allwpilib/actions/runs/9148573865/job/25151263814?pr=6304#step:5:672) is actually complaining that `m_requirements` could be made final. Was there a particular reason to make it non-final?

> > PMD in the [Java format CI](https://github.com/wpilibsuite/allwpilib/actions/runs/9148573865/job/25151263814?pr=6304#step:5:672) is actually complaining that `m_requirements` could be made final. Was there a particular reason to make it non-final? > > There is...