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[NFC] Update RobotPoseEstimator documentation (#740)

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* update documentation

* add suggested changes

* rename April Tag to AprilTag

* Update RobotPoseEstimator.java

Co-authored-by: Mohammad Durrani <46766905+mdurrani808@users.noreply.github.com>
This commit is contained in:
Sriman Achanta
2023-01-17 20:34:21 -05:00
committed by GitHub
parent a16ac4af57
commit 167a4661ca
2 changed files with 12 additions and 8 deletions
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16
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -41,7 +41,7 @@ import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
/**
* The PhotonPoseEstimator class filters or combines readings from all the fiducials visible at a
* The PhotonPoseEstimator class filters or combines readings from all the AprilTags visible at a
* given timestamp on the field to produce a single robot in field pose, using the strategy set
* below. Example usage can be found in our apriltagExample example project.
*/
@@ -76,12 +76,16 @@ public class PhotonPoseEstimator {
/**
* Create a new PhotonPoseEstimator.
*
* @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3ds with
* respect to the FIRST field.
* @param fieldTags A WPILib {@link AprilTagFieldLayout} linking AprilTag IDs to Pose3d objects
* with respect to the FIRST field using the <a
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
* Coordinate System</a>.
* @param strategy The strategy it should use to determine the best pose.
* @param camera PhotonCameras and
* @param robotToCamera Transform3d from the center of the robot to the camera mount positions
* (ie, robot ➔ camera).
* (ie, robot ➔ camera) in the <a
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#robot-coordinate-system">Robot
* Coordinate System</a>.
*/
public PhotonPoseEstimator(
AprilTagFieldLayout fieldTags,
@@ -176,7 +180,7 @@ public class PhotonPoseEstimator {
* @param lastPose the lastPose to set
*/
public void setLastPose(Pose2d lastPose) {
this.lastPose = new Pose3d(lastPose);
setLastPose(new Pose3d(lastPose));
}
/**
@@ -485,7 +489,7 @@ public class PhotonPoseEstimator {
private void reportFiducialPoseError(int fiducialId) {
if (!reportedErrors.contains(fiducialId)) {
DriverStation.reportError(
"[PhotonPoseEstimator] Tried to get pose of unknown April Tag: " + fiducialId, false);
"[PhotonPoseEstimator] Tried to get pose of unknown AprilTag: " + fiducialId, false);
reportedErrors.add(fiducialId);
}
}