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[photon-targeting][photon-lib] Add tests to the targeting classes and cleanup photon-lib & photon-targeting (#1007)

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* Make MultiTagPNPResult and PNPResult singular

* add java tests

* Formatting fixes

* bring in the rest of the little stuff

* final things

* Formatting fixes

* add multisubscriber back

* Formatting fixes

* make comments better about x and y relationship
This commit is contained in:
Sriman Achanta
2023-11-15 18:28:26 -05:00
committed by GitHub
parent 524b135142
commit 308fd801d4
31 changed files with 833 additions and 191 deletions
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5
photon-lib/src/main/java/org/photonvision/simulation/VisionSystemSim.java
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@@ -176,8 +176,7 @@ public class VisionSystemSim {
*/
public Optional<Pose3d> getCameraPose(PhotonCameraSim cameraSim, double timeSeconds) {
var robotToCamera = getRobotToCamera(cameraSim, timeSeconds);
if (robotToCamera.isEmpty()) return Optional.empty();
return Optional.of(getRobotPose(timeSeconds).plus(robotToCamera.get()));
return robotToCamera.map(transform3d -> getRobotPose(timeSeconds).plus(transform3d));
}
/**
@@ -405,6 +404,6 @@ public class VisionSystemSim {
}
}
if (processed) dbgField.getObject("visibleTargetPoses").setPoses(visTgtPoses2d);
if (cameraPoses2d.size() != 0) dbgField.getObject("cameras").setPoses(cameraPoses2d);
if (!cameraPoses2d.isEmpty()) dbgField.getObject("cameras").setPoses(cameraPoses2d);
}
}