Package io.github.roboblazers7617.limelight.targets

Class FiducialTarget

java.lang.Object
io.github.roboblazers7617.limelight.targets.FiducialTarget
public class FiducialTarget extends Object
Represents an AprilTag/Fiducial Target Result extracted from JSON Output.

  • Field Details

    • fiducialID

      public double fiducialID
      The ID of the primary in-view fiducial.

    • fiducialFamily

      public String fiducialFamily
      The family of the primary in-view fiducial.

    • ta

      public double ta
      The size of the target as a percentage of the image [0-1].

    • tx

      public double tx
      The X-coordinate of the center of the target in degrees relative to crosshair. Positive-right, center-zero.

    • ty

      public double ty
      The Y-coordinate of the center of the target in degrees relative to crosshair. Positive-down, center-zero.

    • tx_pixels

      public double tx_pixels
      The X-coordinate of the center of the target in pixels relative to crosshair. Positive-right, center-zero

    • ty_pixels

      public double ty_pixels
      The Y-coordinate of the center of the target in pixels relative to crosshair. Positive-down, center-zero.

    • tx_nocrosshair

      public double tx_nocrosshair
      The X-coordinate of the center of the target in degrees relative to principal piexel. Positive-right, center-zero.

    • ty_nocrosshair

      public double ty_nocrosshair
      The Y-coordinate of the center of the target in degrees relative to principal pixel. Positive-right, center-zero.

    • ts

      public double ts

  • Constructor Details

    • FiducialTarget

      public FiducialTarget()
      Creates a new FiducialTarget with blank values.

  • Method Details

    • getCameraPose_TargetSpace

      public Pose3d getCameraPose_TargetSpace()
      Gets the cameraPose_TargetSpace for this target.
      Returns:
      The cameraPose_TargetSpace for this target, parsed into a Pose3d.

    • getRobotPose_FieldSpace

      public Pose3d getRobotPose_FieldSpace()
      Gets the robotPose_FieldSpace for this target.
      Returns:
      The robotPose_FieldSpace for this target, parsed into a Pose3d.

    • getRobotPose_TargetSpace

      public Pose3d getRobotPose_TargetSpace()
      Gets the robotPose_TargetSpace for this target.
      Returns:
      The robotPose_TargetSpace for this target, parsed into a Pose3d.

    • getTargetPose_CameraSpace

      public Pose3d getTargetPose_CameraSpace()
      Gets the targetPose_CameraSpace for this target.
      Returns:
      The targetPose_CameraSpace for this target, parsed into a Pose3d.

    • getTargetPose_RobotSpace

      public Pose3d getTargetPose_RobotSpace()
      Gets the targetPose_RobotSpace for this target.
      Returns:
      The targetPose_RobotSpace for this target, parsed into a Pose3d.

    • getCameraPose_TargetSpace2D

      public Pose2d getCameraPose_TargetSpace2D()
      Gets the cameraPose_TargetSpace for this target.
      Returns:
      The cameraPose_TargetSpace for this target, parsed into a Pose2d.

    • getRobotPose_FieldSpace2D

      public Pose2d getRobotPose_FieldSpace2D()
      Gets the robotPose_FieldSpace for this target.
      Returns:
      The robotPose_FieldSpace for this target, parsed into a Pose2d.

    • getRobotPose_TargetSpace2D

      public Pose2d getRobotPose_TargetSpace2D()
      Gets the robotPose_TargetSpace for this target.
      Returns:
      The robotPose_TargetSpace for this target, parsed into a Pose2d.

    • getTargetPose_CameraSpace2D

      public Pose2d getTargetPose_CameraSpace2D()
      Gets the targetPose_CameraSpace for this target.
      Returns:
      The targetPose_CameraSpace for this target, parsed into a Pose2d.

    • getTargetPose_RobotSpace2D

      public Pose2d getTargetPose_RobotSpace2D()
      Gets the targetPose_RobotSpace for this target.
      Returns:
      The targetPose_RobotSpace for this target, parsed into a Pose2d.