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Return named type from PhotonPoseEstimator (#734)

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Adds PhotonPoseEstimator class, and deprecates RobotPoseEstimator
This commit is contained in:
Andrew Gasser
2023-01-14 09:06:15 -06:00
committed by GitHub
parent 073714f0bc
commit 357d8a518a
17 changed files with 1597 additions and 314 deletions
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6
photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp
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@@ -38,7 +38,8 @@ PhotonTrackedTarget::PhotonTrackedTarget(
double yaw, double pitch, double area, double skew, int id,
const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
double ambiguity,
const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners)
const wpi::SmallVector<std::pair<double, double>, 4> minAreaRectCorners,
const std::vector<std::pair<double, double>> detectedCorners)
: yaw(yaw),
pitch(pitch),
area(area),
@@ -47,7 +48,8 @@ PhotonTrackedTarget::PhotonTrackedTarget(
bestCameraToTarget(pose),
altCameraToTarget(alternatePose),
poseAmbiguity(ambiguity),
minAreaRectCorners(minAreaRectCorners) {}
minAreaRectCorners(minAreaRectCorners),
detectedCorners(detectedCorners) {}
bool PhotonTrackedTarget::operator==(const PhotonTrackedTarget& other) const {
return other.yaw == yaw && other.pitch == pitch && other.area == area &&