Package org.team1126.robot.util

Class FuelLocalization

java.lang.Object

org.team1126.robot.util.FuelLocalization

public final class FuelLocalization
extends Object

Method Summary

Modifier and Type	Method	Description
static edu.wpi.first.math.geometry.Pose2d	estimateOnCarpet(edu.wpi.first.math.geometry.Pose2d fieldToRobot, edu.wpi.first.math.geometry.Transform3d robotToCamera, double yawDeg, double pitchDeg)	Estimates the field position of a target on the carpet (z=0) from camera yaw/pitch.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

estimateOnCarpet

public static edu.wpi.first.math.geometry.Pose2d estimateOnCarpet(edu.wpi.first.math.geometry.Pose2d fieldToRobot,
 edu.wpi.first.math.geometry.Transform3d robotToCamera,
 double yawDeg,
 double pitchDeg)

Estimates the field position of a target on the carpet (z=0) from camera yaw/pitch. Assumptions: - fuel is on the carpet (z = 0) - robot pose is accurate enough - robotToCamera is measured correctly

Returns:

field-relative Pose2d at the hit point, or null if geometry is invalid.