PhotonVision/photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java

/*
 * MIT License
 *
 * Copyright (c) PhotonVision
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * SOFTWARE.
 */

package org.photonvision;

import edu.wpi.first.math.geometry.Pose3d;
import java.util.List;
import org.photonvision.PhotonPoseEstimator.PoseStrategy;
import org.photonvision.targeting.PhotonTrackedTarget;

/** An estimated pose based on pipeline result */
public class EstimatedRobotPose {
    /** The estimated pose */
    public final Pose3d estimatedPose;

    /** The estimated time the frame used to derive the robot pose was taken */
    public final double timestampSeconds;

    /** A list of the targets used to compute this pose */
    public final List<PhotonTrackedTarget> targetsUsed;

    /** The strategy actually used to produce this pose */
    public final PoseStrategy strategy;

    /**
     * Constructs an EstimatedRobotPose
     *
     * @param estimatedPose estimated pose
     * @param timestampSeconds timestamp of the estimate
     */
    public EstimatedRobotPose(
            Pose3d estimatedPose, double timestampSeconds, List<PhotonTrackedTarget> targetsUsed) {
        this.estimatedPose = estimatedPose;
        this.timestampSeconds = timestampSeconds;
        this.targetsUsed = targetsUsed;
        this.strategy = null;
    }

    /**
     * Constructs an EstimatedRobotPose
     *
     * @param estimatedPose estimated pose
     * @param timestampSeconds timestamp of the estimate
     */
    public EstimatedRobotPose(
            Pose3d estimatedPose,
            double timestampSeconds,
            List<PhotonTrackedTarget> targetsUsed,
            PoseStrategy strategy) {
        this.estimatedPose = estimatedPose;
        this.timestampSeconds = timestampSeconds;
        this.targetsUsed = targetsUsed;
        this.strategy = strategy;
    }
}