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Add ability query camera results outside of PhotonPoseEstimator (#786)

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This commit is contained in:
PJ Reiniger
2023-02-09 14:43:52 -05:00
committed by GitHub
parent 6886663688
commit 0255798d6c
3 changed files with 22 additions and 0 deletions
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4
photon-lib/src/main/native/cpp/photonlib/PhotonPoseEstimator.cpp
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@@ -55,7 +55,11 @@ PhotonPoseEstimator::PhotonPoseEstimator(frc::AprilTagFieldLayout tags,
std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update() {
auto result = camera.GetLatestResult();
return Update(result);
}
std::optional<EstimatedRobotPose> PhotonPoseEstimator::Update(
const PhotonPipelineResult& result) {
if (!result.HasTargets()) {
return std::nullopt;
}

5
photon-lib/src/main/native/include/photonlib/PhotonPoseEstimator.h
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@@ -155,6 +155,11 @@ class PhotonPoseEstimator {
*/
std::optional<EstimatedRobotPose> Update();
/**
* Update the pose estimator.
*/
std::optional<EstimatedRobotPose> Update(const PhotonPipelineResult& result);
inline PhotonCamera& GetCamera() { return camera; }
private: