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Docs corrections related to PhotonPoseEstimator (#804)

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This commit is contained in:
Andrew Gasser
2023-02-14 12:49:08 -06:00
committed by GitHub
parent 545e016d04
commit bf4a4db874
3 changed files with 8 additions and 11 deletions
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12
photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
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@@ -63,7 +63,7 @@ public class PhotonPoseEstimator {
/** Choose the Pose which is closest to the last pose calculated */
CLOSEST_TO_LAST_POSE,
/** Choose the Pose with the lowest ambiguity. */
/** Return the average of the best target poses using ambiguity as weight. */
AVERAGE_BEST_TARGETS,
/** Use all visible tags to compute a single pose estimate.. */
@@ -89,9 +89,9 @@ public class PhotonPoseEstimator {
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#field-coordinate-system">Field
* Coordinate System</a>.
* @param strategy The strategy it should use to determine the best pose.
* @param camera PhotonCameras and
* @param robotToCamera Transform3d from the center of the robot to the camera mount positions
* (ie, robot ➔ camera) in the <a
* @param camera PhotonCamera
* @param robotToCamera Transform3d from the center of the robot to the camera mount position (ie,
* robot ➔ camera) in the <a
* href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html#robot-coordinate-system">Robot
* Coordinate System</a>.
*/
@@ -240,8 +240,8 @@ public class PhotonPoseEstimator {
* Poll data from the configured cameras and update the estimated position of the robot. Returns
* empty if there are no cameras set or no targets were found from the cameras.
*
* @return an EstimatedRobotPose with an estimated pose, and information about the camera(s) and
* pipeline results used to create the estimate
* @return an EstimatedRobotPose with an estimated pose, the timestamp, and targets used to create
* the estimate
*/
public Optional<EstimatedRobotPose> update() {
if (camera == null) {