Package io.github.roboblazers7617.limelight

Class PoseEstimate

java.lang.Object

io.github.roboblazers7617.limelight.PoseEstimate

public class PoseEstimate
extends Object

Represents a 3D Pose Estimate.

Field Summary

Fields

Modifier and Type	Field	Description
double	avgTagArea	The average area of the tags used to compute this pose.
double	avgTagDist	The average distance between tags used to compute this pose in meters.
boolean	isMegaTag2	Was this pose computed using MegaTag2?
double	latency	The latency in milliseconds.
Pose3d	pose	The estimated robot pose.
RawFiducialTarget[]	rawFiducials	The raw fiducial data used to estimate this pose.
int	tagCount	The number of tags used to compute this pose.
double	tagSpan	The maximium distance between the tags used to compute this pose in meters.
double	timestampSeconds	The NetworkTables timestamp in seconds.

Constructor Summary

Constructors

Constructor	Description
PoseEstimate()	Instantiates a PoseEstimate object with default values.
PoseEstimate(Pose3d pose, double timestampSeconds, double latency, int tagCount, double tagSpan, double avgTagDist, double avgTagArea, RawFiducialTarget[] rawFiducials, boolean isMegaTag2)	Creates a new PoseEstimate.

Method Summary

Modifier and Type	Method	Description
RawFiducialTarget[]	getDetectedTags()	Gets the rawFiducials for this PoseEstimate.
Pose2d	getPose2d()	Gets the pose as a Pose2d.
Pose3d	getPose3d()	Gets the pose for this PoseEstimate.
int	getTagCount()	Gets the tagCount for this PoseEstimate.
double	getTimestampSeconds()	Gets the timestampSeconds for this PoseEstimate.
void	print()	Prints detailed information about this PoseEstimate to standard output.

Methods inherited from class java.lang.Object

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

Field Details

pose

public Pose3d pose

The estimated robot pose.

timestampSeconds

public double timestampSeconds

The NetworkTables timestamp in seconds.

latency

public double latency

The latency in milliseconds.

tagCount

public int tagCount

The number of tags used to compute this pose.

tagSpan

public double tagSpan

The maximium distance between the tags used to compute this pose in meters.

avgTagDist

public double avgTagDist

The average distance between tags used to compute this pose in meters.

avgTagArea

public double avgTagArea

The average area of the tags used to compute this pose.

rawFiducials

public RawFiducialTarget[] rawFiducials

The raw fiducial data used to estimate this pose.

isMegaTag2

public boolean isMegaTag2

Was this pose computed using MegaTag2?

Constructor Details

PoseEstimate

public PoseEstimate()

Instantiates a PoseEstimate object with default values.

PoseEstimate

public PoseEstimate(Pose3d pose,
 double timestampSeconds,
 double latency,
 int tagCount,
 double tagSpan,
 double avgTagDist,
 double avgTagArea,
 RawFiducialTarget[] rawFiducials,
 boolean isMegaTag2)

Creates a new PoseEstimate.

Parameters:

pose - The pose to use.

timestampSeconds - The timestampSeconds to use.

latency - The latency to use.

tagCount - The tagCount to use.

tagSpan - The tagSpan to use.

avgTagDist - The avgTagDist to use.

avgTagArea - The avgTagArea to use.

rawFiducials - The rawFiducials to use.

isMegaTag2 - isMegaTag2?

Method Details

getPose3d

public Pose3d getPose3d()

Gets the pose for this PoseEstimate.

Returns:

The pose for this PoseEstimate.

getPose2d

public Pose2d getPose2d()

Gets the pose as a Pose2d.

Returns:

pose as a Pose2d.

See Also:

• Pose3d.toPose2d()

getDetectedTags

public RawFiducialTarget[] getDetectedTags()

Gets the rawFiducials for this PoseEstimate.

Returns:

The rawFiducials for this PoseEstimate.

getTimestampSeconds

public double getTimestampSeconds()

Gets the timestampSeconds for this PoseEstimate.

Returns:

The timestampSeconds for this PoseEstimate.

getTagCount

public int getTagCount()

Gets the tagCount for this PoseEstimate.

Returns:

The tagCount for this PoseEstimate.

print

public void print()

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