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Correct yet more python type hinting (#1555)

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This commit is contained in:
James Ward
2024-11-13 03:17:27 +11:00
committed by GitHub
parent af03ae0a8b
commit 744e522aea
7 changed files with 38 additions and 40 deletions
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15
photon-lib/py/photonlibpy/simulation/visionSystemSim.py
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@@ -84,7 +84,11 @@ class VisionSystemSim:
if robotToCamera is None:
return None
else:
return self.getRobotPose(time) + robotToCamera
pose = self.getRobotPose(time)
if pose:
return pose + robotToCamera
else:
return None
def adjustCamera(
self, cameraSim: PhotonCameraSim, robotToCamera: Transform3d
@@ -167,7 +171,7 @@ class VisionSystemSim:
def getRobotPose(
self, timestamp: seconds = wpilib.Timer.getFPGATimestamp()
) -> Pose3d:
) -> Pose3d | None:
return self.robotPoseBuffer.sample(timestamp)
def resetRobotPose(self, robotPose: Pose2d | Pose3d) -> None:
@@ -216,9 +220,10 @@ class VisionSystemSim:
timestampCapture = timestampNt * 1.0e-6 - latency
lateRobotPose = self.getRobotPose(timestampCapture)
lateCameraPose = lateRobotPose + self.getRobotToCamera(
camSim, timestampCapture
)
robotToCamera = self.getRobotToCamera(camSim, timestampCapture)
if lateRobotPose is None or robotToCamera is None:
return None
lateCameraPose = lateRobotPose + robotToCamera
cameraPoses2d.append(lateCameraPose.toPose2d())
camResult = camSim.process(latency, lateCameraPose, allTargets)