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Sim Updates for 2023 (#512)

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* WIP updating sim stuff for 2023 and pose3d's

* vision system build fixups, but test not yet passing.

* WIP Sim fixups and working on testcases

* Still doesn't work, but closer

* tests pass

* removed C++ sim support

* formatting update

* adjusted target height above ground per review

* Turns out its unused

* missed example removal
This commit is contained in:
Chris Gerth
2022-11-03 15:05:37 -05:00
committed by GitHub
parent a64697e714
commit b408a58e9e
18 changed files with 276 additions and 1314 deletions
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20
photon-lib/src/main/java/org/photonvision/SimVisionTarget.java
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@@ -24,34 +24,28 @@
package org.photonvision;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Pose3d;
public class SimVisionTarget {
Pose2d targetPos;
Pose3d targetPose;
double targetWidthMeters;
double targetHeightMeters;
double targetHeightAboveGroundMeters;
double tgtAreaMeters2;
int targetID;
/**
* Describes a vision target located somewhere on the field that your SimVisionSystem can detect.
*
* @param targetPos Pose2d of the target on the field. Define it such that, if you are standing on
* the middle of the field facing the target, the Y axis points to your left, and the X axis
* points away from you.
* @param targetHeightAboveGroundMeters Height of the target above the field plane, in meters.
* @param targetPos Pose3d of the target in field-relative coordinates
* @param targetWidthMeters Width of the outer bounding box of the target in meters.
* @param targetHeightMeters Pair Height of the outer bounding box of the target in meters.
*/
public SimVisionTarget(
Pose2d targetPos,
double targetHeightAboveGroundMeters,
double targetWidthMeters,
double targetHeightMeters) {
this.targetPos = targetPos;
this.targetHeightAboveGroundMeters = targetHeightAboveGroundMeters;
Pose3d targetPos, double targetWidthMeters, double targetHeightMeters, int targetID) {
this.targetPose = targetPos;
this.targetWidthMeters = targetWidthMeters;
this.targetHeightMeters = targetHeightMeters;
this.tgtAreaMeters2 = targetWidthMeters * targetHeightMeters;
this.targetID = targetID;
}
}