Package io.github.roboblazers7617.limelight

Class PoseEstimator

java.lang.Object

io.github.roboblazers7617.limelight.PoseEstimator

public class PoseEstimator
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	PoseEstimator.PoseEstimators	PoseEstimators enum for easier decoding.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PoseEstimator(Limelight limelight, PoseEstimator.PoseEstimators poseEstimator)

Method Summary

Modifier and Type	Method	Description
PoseEstimate[]	getBotPoseEstimates()
RawFiducialTarget[]	getRawFiducialTargets()	Gets the latest raw fiducial/AprilTag detection results from NetworkTables.
void	printPoseEstimate(PoseEstimate pose)	Prints detailed information about a PoseEstimate to standard output.
Boolean	validPoseEstimate(PoseEstimate pose)

Methods inherited from class java.lang.Object

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

Constructor Details

PoseEstimator

protected PoseEstimator(Limelight limelight,
 PoseEstimator.PoseEstimators poseEstimator)

Method Details

getBotPoseEstimates

public PoseEstimate[] getBotPoseEstimates()

getRawFiducialTargets

public RawFiducialTarget[] getRawFiducialTargets()

Gets the latest raw fiducial/AprilTag detection results from NetworkTables. name

Returns:

Array of RawFiducialTarget objects containing detection details

printPoseEstimate

public void printPoseEstimate(PoseEstimate pose)

Prints detailed information about a PoseEstimate to standard output. Includes timestamp, latency, tag count, tag span, average tag distance, average tag area, and detailed information about each detected fiducial.

Parameters:

pose - The PoseEstimate object to print. If null, prints "No PoseEstimate available."

validPoseEstimate

public Boolean validPoseEstimate(PoseEstimate pose)