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[photon-lib] Invalidate pose cache when setting referencePose (#2040)

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This commit is contained in:
Kevin Cooney
2025-08-07 22:14:44 -07:00
committed by GitHub
parent a930852bee
commit ab854e91e5
8 changed files with 164 additions and 30 deletions
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8
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -42,11 +42,7 @@ import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.math.numbers.N8;
import edu.wpi.first.wpilibj.DriverStation;
import java.util.ArrayList;
import java.util.HashSet;
import java.util.List;
import java.util.Optional;
import java.util.Set;
import java.util.*;
import org.photonvision.estimation.TargetModel;
import org.photonvision.estimation.VisionEstimation;
import org.photonvision.targeting.PhotonPipelineResult;
@@ -175,7 +171,7 @@ public class PhotonPoseEstimator {
}
private void checkUpdate(Object oldObj, Object newObj) {
if (oldObj != newObj && oldObj != null && !oldObj.equals(newObj)) {
if (!Objects.equals(oldObj, newObj)) {
invalidatePoseCache();
}
}