Package org.team1126.robot.util

Class Vision

java.lang.Object

org.team1126.robot.util.Vision

public final class Vision
extends Object

Manages all of the robot's cameras.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	Vision.CameraConfig

Constructor Summary

Constructors

Constructor	Description
Vision(Vision.CameraConfig[] cameras)	Create the vision manager.

Method Summary

Modifier and Type	Method	Description
VisionMeasurement[]	getUnreadResults(List<TimestampedPose> poseHistory, edu.wpi.first.math.geometry.Pose2d odometryPose, double velocity)	Gets unread results from all cameras.
void	reset()	Resets cached measurements utilized by the pose estimators for seeding.

Methods inherited from class java.lang.Object

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

Constructor Details

Vision

public Vision(Vision.CameraConfig[] cameras)

Create the vision manager.

Parameters:

cameras - Configurations for the robot's cameras.

Method Details

reset

public void reset()

Resets cached measurements utilized by the pose estimators for seeding. It is recommended to call this method after resetting the robot's pose or rotation.

getUnreadResults

public VisionMeasurement[] getUnreadResults(List<TimestampedPose> poseHistory,
 edu.wpi.first.math.geometry.Pose2d odometryPose,
 double velocity)

Gets unread results from all cameras.

Parameters:

poseHistory - Robot pose estimates from the last robot cycle.

odometryPose - The uncorrected odometry pose of the robot. Used for simulation.

velocity - The directionless measured velocity of the robot in m/s.