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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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4
photon-lib/src/test/java/org/photonvision/PhotonPoseEstimatorTest.java
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@@ -69,7 +69,7 @@ class PhotonPoseEstimatorTest {
e.printStackTrace();
}
List<AprilTag> tagList = new ArrayList<AprilTag>(2);
List<AprilTag> tagList = new ArrayList<>(2);
tagList.add(new AprilTag(0, new Pose3d(3, 3, 3, new Rotation3d())));
tagList.add(new AprilTag(1, new Pose3d(5, 5, 5, new Rotation3d())));
double fieldLength = Units.feetToMeters(54.0);
@@ -619,7 +619,7 @@ class PhotonPoseEstimatorTest {
assertEquals(2.15, pose.getZ(), .01);
}
private class PhotonCameraInjector extends PhotonCamera {
private static class PhotonCameraInjector extends PhotonCamera {
public PhotonCameraInjector() {
super("Test");
}