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Multi-tag pnp in robot code (#787)

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Co-authored-by: Banks Troutman <btrout.dhrs@gmail.com>
Co-authored-by: Joseph Farkas <16584585+MrRedness@users.noreply.github.com>
This commit is contained in:
Matt
2023-02-13 17:57:01 -05:00
committed by GitHub
parent a2dfe48679
commit 5b86360b9b
33 changed files with 1785 additions and 63 deletions
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9
photon-lib/src/main/java/org/photonvision/EstimatedRobotPose.java
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@@ -25,6 +25,8 @@
package org.photonvision;
import edu.wpi.first.math.geometry.Pose3d;
import java.util.List;
import org.photonvision.targeting.PhotonTrackedTarget;
/** An estimated pose based on pipeline result */
public class EstimatedRobotPose {
@@ -34,14 +36,19 @@ public class EstimatedRobotPose {
/** The estimated time the frame used to derive the robot pose was taken */
public final double timestampSeconds;
/** A list of the targets used to compute this pose */
public final List<PhotonTrackedTarget> targetsUsed;
/**
* Constructs an EstimatedRobotPose
*
* @param estimatedPose estimated pose
* @param timestampSeconds timestamp of the estimate
*/
public EstimatedRobotPose(Pose3d estimatedPose, double timestampSeconds) {
public EstimatedRobotPose(
Pose3d estimatedPose, double timestampSeconds, List<PhotonTrackedTarget> targetsUsed) {
this.estimatedPose = estimatedPose;
this.timestampSeconds = timestampSeconds;
this.targetsUsed = targetsUsed;
}
}