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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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45
photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
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@@ -19,7 +19,6 @@ package org.photonvision.targeting;
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import org.photonvision.common.dataflow.structures.Packet;
/** Represents a pipeline result from a PhotonCamera. */
@@ -123,21 +122,6 @@ public class PhotonPipelineResult {
return new ArrayList<>(targets);
}
@Override
public boolean equals(Object o) {
if (this == o) return true;
if (o == null || getClass() != o.getClass()) return false;
PhotonPipelineResult that = (PhotonPipelineResult) o;
boolean latencyMatch = Double.compare(that.latencyMillis, latencyMillis) == 0;
boolean targetsMatch = that.targets.equals(targets);
return latencyMatch && targetsMatch;
}
@Override
public int hashCode() {
return Objects.hash(latencyMillis, targets);
}
/**
* Populates the fields of the pipeline result from the packet.
*
@@ -178,4 +162,33 @@ public class PhotonPipelineResult {
// Return the packet.
return packet;
}
@Override
public int hashCode() {
final int prime = 31;
int result = 1;
result = prime * result + ((targets == null) ? 0 : targets.hashCode());
long temp;
temp = Double.doubleToLongBits(latencyMillis);
result = prime * result + (int) (temp ^ (temp >>> 32));
temp = Double.doubleToLongBits(timestampSeconds);
result = prime * result + (int) (temp ^ (temp >>> 32));
return result;
}
@Override
public boolean equals(Object obj) {
if (this == obj) return true;
if (obj == null) return false;
if (getClass() != obj.getClass()) return false;
PhotonPipelineResult other = (PhotonPipelineResult) obj;
if (targets == null) {
if (other.targets != null) return false;
} else if (!targets.equals(other.targets)) return false;
if (Double.doubleToLongBits(latencyMillis) != Double.doubleToLongBits(other.latencyMillis))
return false;
if (Double.doubleToLongBits(timestampSeconds)
!= Double.doubleToLongBits(other.timestampSeconds)) return false;
return true;
}
}