From 95236e5045c76df90a66c6d75a1477eaae6e1b78 Mon Sep 17 00:00:00 2001 From: Jade Date: Sun, 29 Sep 2024 23:43:02 +0800 Subject: [PATCH] [docs] Fix usage of `getTagPose` (#1442) --- docs/source/docs/programming/photonlib/using-target-data.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/docs/source/docs/programming/photonlib/using-target-data.md b/docs/source/docs/programming/photonlib/using-target-data.md index ad4c516cf..ff700715d 100644 --- a/docs/source/docs/programming/photonlib/using-target-data.md +++ b/docs/source/docs/programming/photonlib/using-target-data.md @@ -11,7 +11,9 @@ A `PhotonUtils` class with helpful common calculations is included within `Photo .. code-block:: Java // Calculate robot's field relative pose - Pose3d robotPose = PhotonUtils.estimateFieldToRobotAprilTag(target.getBestCameraToTarget(), aprilTagFieldLayout.getTagPose(target.getFiducialId()), cameraToRobot); + if (aprilTagFieldLayout.getTagPose(target.getFiducialId()).isPresent()) { + Pose3d robotPose = PhotonUtils.estimateFieldToRobotAprilTag(target.getBestCameraToTarget(), aprilTagFieldLayout.getTagPose(target.getFiducialId()).get(), cameraToRobot); + } .. code-block:: C++ //TODO