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Add RobotPoseEstimator (#571)

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RobotPoseEstimator can pick the most likely pose for the robot given a number of possible poses, using a number of different strategies. Examples are still WIP.
This commit is contained in:
Jack
2022-12-30 00:40:13 -06:00
committed by GitHub
parent 3a10f49b54
commit 550194152a
12 changed files with 1805 additions and 4 deletions
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6
photon-lib/src/main/native/include/photonlib/PhotonTrackedTarget.h
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@@ -52,11 +52,13 @@ class PhotonTrackedTarget {
* @param area The area of the target.
* @param skew The skew of the target.
* @param pose The camera-relative pose of the target.
* @param alternatePose The alternate camera-relative pose of the target.
* @Param corners The corners of the bounding rectangle.
*/
PhotonTrackedTarget(
double yaw, double pitch, double area, double skew, int fiducialID,
const frc::Transform3d& pose,
const frc::Transform3d& pose, const frc::Transform3d& alternatePose,
double ambiguity,
const wpi::SmallVector<std::pair<double, double>, 4> corners);
/**
@@ -87,7 +89,7 @@ class PhotonTrackedTarget {
* Get the Fiducial ID of the target currently being tracked,
* or -1 if not set.
*/
double GetFiducialId() const { return fiducialId; }
int GetFiducialId() const { return fiducialId; }
/**
* Returns the corners of the minimum area rectangle bounding this target.