Upgrade spotless and shadow (#385)

Fixes Log4J vulnerability

photon-lib/src/main/java/org/photonvision/PhotonUtils.java

@@ -27,25 +27,25 @@ public final class PhotonUtils {
     }
 
     /**
-    * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates
-    * range to a target using the target's elevation. This method can produce more stable results
-    * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method
-    * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and
-    * for there to exist a height differential between goal and camera. The larger this differential,
-    * the more accurate the distance estimate will be.
-    *
-    * <p>Units can be converted using the {@link edu.wpi.first.math.util.Units} class.
-    *
-    * @param cameraHeightMeters The physical height of the camera off the floor in meters.
-    * @param targetHeightMeters The physical height of the target off the floor in meters. This
-    *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
-    *     top, this should be the height of the top of the target).
-    * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
-    *     Positive values up.
-    * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
-    *     values up.
-    * @return The estimated distance to the target in meters.
-    */
+     * Algorithm from https://docs.limelightvision.io/en/latest/cs_estimating_distance.html Estimates
+     * range to a target using the target's elevation. This method can produce more stable results
+     * than SolvePNP when well tuned, if the full 6d robot pose is not required. Note that this method
+     * requires the camera to have 0 roll (not be skewed clockwise or CCW relative to the floor), and
+     * for there to exist a height differential between goal and camera. The larger this differential,
+     * the more accurate the distance estimate will be.
+     *
+     * <p>Units can be converted using the {@link edu.wpi.first.math.util.Units} class.
+     *
+     * @param cameraHeightMeters The physical height of the camera off the floor in meters.
+     * @param targetHeightMeters The physical height of the target off the floor in meters. This
+     *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
+     *     top, this should be the height of the top of the target).
+     * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
+     *     Positive values up.
+     * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
+     *     values up.
+     * @return The estimated distance to the target in meters.
+     */
     public static double calculateDistanceToTargetMeters(
             double cameraHeightMeters,
             double targetHeightMeters,
@@ -56,12 +56,12 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimate the {@link Translation2d} of the target relative to the camera.
-    *
-    * @param targetDistanceMeters The distance to the target in meters.
-    * @param yaw The observed yaw of the target.
-    * @return The target's camera-relative translation.
-    */
+     * Estimate the {@link Translation2d} of the target relative to the camera.
+     *
+     * @param targetDistanceMeters The distance to the target in meters.
+     * @param yaw The observed yaw of the target.
+     * @return The target's camera-relative translation.
+     */
     public static Translation2d estimateCameraToTargetTranslation(
             double targetDistanceMeters, Rotation2d yaw) {
         return new Translation2d(
@@ -69,25 +69,25 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimate the position of the robot in the field.
-    *
-    * @param cameraHeightMeters The physical height of the camera off the floor in meters.
-    * @param targetHeightMeters The physical height of the target off the floor in meters. This
-    *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
-    *     top, this should be the height of the top of the target).
-    * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
-    *     Positive values up.
-    * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
-    *     values up.
-    * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and
-    *     Photon returns CW-positive.
-    * @param gyroAngle The current robot gyro angle, likely from odometry.
-    * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
-    * @param cameraToRobot The position of the robot relative to the camera. If the camera was
-    *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
-    *     Transform2d(3 inches, 0 inches, 0 degrees).
-    * @return The position of the robot in the field.
-    */
+     * Estimate the position of the robot in the field.
+     *
+     * @param cameraHeightMeters The physical height of the camera off the floor in meters.
+     * @param targetHeightMeters The physical height of the target off the floor in meters. This
+     *     should be the height of whatever is being targeted (i.e. if the targeting region is set to
+     *     top, this should be the height of the top of the target).
+     * @param cameraPitchRadians The pitch of the camera from the horizontal plane in radians.
+     *     Positive values up.
+     * @param targetPitchRadians The pitch of the target in the camera's lens in radians. Positive
+     *     values up.
+     * @param targetYaw The observed yaw of the target. Note that this *must* be CCW-positive, and
+     *     Photon returns CW-positive.
+     * @param gyroAngle The current robot gyro angle, likely from odometry.
+     * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
+     * @param cameraToRobot The position of the robot relative to the camera. If the camera was
+     *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
+     *     Transform2d(3 inches, 0 inches, 0 degrees).
+     * @return The position of the robot in the field.
+     */
     public static Pose2d estimateFieldToRobot(
             double cameraHeightMeters,
             double targetHeightMeters,
@@ -110,17 +110,17 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimates a {@link Transform2d} that maps the camera position to the target position, using the
-    * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system
-    * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and
-    * increase as the robot rotates CCW.
-    *
-    * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target
-    *     relative to the camera.
-    * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
-    * @param gyroAngle The current robot gyro angle, likely from odometry.
-    * @return A Transform2d that takes us from the camera to the target.
-    */
+     * Estimates a {@link Transform2d} that maps the camera position to the target position, using the
+     * robot's gyro. Note that the gyro angle provided *must* line up with the field coordinate system
+     * -- that is, it should read zero degrees when pointed towards the opposing alliance station, and
+     * increase as the robot rotates CCW.
+     *
+     * @param cameraToTargetTranslation A Translation2d that encodes the x/y position of the target
+     *     relative to the camera.
+     * @param fieldToTarget A Pose2d representing the target position in the field coordinate system.
+     * @param gyroAngle The current robot gyro angle, likely from odometry.
+     * @return A Transform2d that takes us from the camera to the target.
+     */
     public static Transform2d estimateCameraToTarget(
             Translation2d cameraToTargetTranslation, Pose2d fieldToTarget, Rotation2d gyroAngle) {
         // This pose maps our camera at the origin out to our target, in the robot
@@ -133,31 +133,31 @@ public final class PhotonUtils {
     }
 
     /**
-    * Estimates the pose of the robot in the field coordinate system, given the position of the
-    * target relative to the camera, the target relative to the field, and the robot relative to the
-    * camera.
-    *
-    * @param cameraToTarget The position of the target relative to the camera.
-    * @param fieldToTarget The position of the target in the field.
-    * @param cameraToRobot The position of the robot relative to the camera. If the camera was
-    *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
-    *     Transform2d(3 inches, 0 inches, 0 degrees).
-    * @return The position of the robot in the field.
-    */
+     * Estimates the pose of the robot in the field coordinate system, given the position of the
+     * target relative to the camera, the target relative to the field, and the robot relative to the
+     * camera.
+     *
+     * @param cameraToTarget The position of the target relative to the camera.
+     * @param fieldToTarget The position of the target in the field.
+     * @param cameraToRobot The position of the robot relative to the camera. If the camera was
+     *     mounted 3 inches behind the "origin" (usually physical center) of the robot, this would be
+     *     Transform2d(3 inches, 0 inches, 0 degrees).
+     * @return The position of the robot in the field.
+     */
     public static Pose2d estimateFieldToRobot(
             Transform2d cameraToTarget, Pose2d fieldToTarget, Transform2d cameraToRobot) {
         return estimateFieldToCamera(cameraToTarget, fieldToTarget).transformBy(cameraToRobot);
     }
 
     /**
-    * Estimates the pose of the camera in the field coordinate system, given the position of the
-    * target relative to the camera, and the target relative to the field. This *only* tracks the
-    * position of the camera, not the position of the robot itself.
-    *
-    * @param cameraToTarget The position of the target relative to the camera.
-    * @param fieldToTarget The position of the target in the field.
-    * @return The position of the camera in the field.
-    */
+     * Estimates the pose of the camera in the field coordinate system, given the position of the
+     * target relative to the camera, and the target relative to the field. This *only* tracks the
+     * position of the camera, not the position of the robot itself.
+     *
+     * @param cameraToTarget The position of the target relative to the camera.
+     * @param fieldToTarget The position of the target in the field.
+     * @return The position of the camera in the field.
+     */
     public static Pose2d estimateFieldToCamera(Transform2d cameraToTarget, Pose2d fieldToTarget) {
         var targetToCamera = cameraToTarget.inverse();
         return fieldToTarget.transformBy(targetToCamera);