mirror of
https://github.com/PhotonVision/photonvision
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e4749a3ea9
Persuant to #1093, I added as many docstrings as I could, at least for things I knew about. Some of the classes I just suppressed the Javadoc warnings in because they aren't particularly useful to document. This gets us down to less than 100 Javadoc warnings in total. Docs for core classes on the C++ side were also added for parity.
113 lines
3.5 KiB
Java
113 lines
3.5 KiB
Java
/*
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* MIT License
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*
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* Copyright (c) PhotonVision
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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package org.photonvision.simulation;
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import edu.wpi.first.math.geometry.Pose3d;
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import edu.wpi.first.math.geometry.Translation3d;
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import java.util.List;
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import org.photonvision.estimation.TargetModel;
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/** Describes a vision target located somewhere on the field that your vision system can detect. */
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public class VisionTargetSim {
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private Pose3d pose;
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private TargetModel model;
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public final int fiducialID;
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/**
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* Describes a vision target located somewhere on the field that your vision system can detect.
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*
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* @param pose Pose3d of the tag in field-relative coordinates
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* @param model TargetModel which describes the geometry of the target
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*/
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public VisionTargetSim(Pose3d pose, TargetModel model) {
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this.pose = pose;
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this.model = model;
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this.fiducialID = -1;
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}
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/**
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* Describes a fiducial tag located somewhere on the field that your vision system can detect.
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*
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* @param pose Pose3d of the tag in field-relative coordinates
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* @param model TargetModel which describes the geometry of the target(tag)
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* @param id The ID of this fiducial tag
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*/
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public VisionTargetSim(Pose3d pose, TargetModel model, int id) {
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this.pose = pose;
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this.model = model;
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this.fiducialID = id;
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}
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/**
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* Sets the pose of this target on the field.
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*
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* @param pose The pose in field-relative coordinates
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*/
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public void setPose(Pose3d pose) {
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this.pose = pose;
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}
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/**
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* Sets the model describing this target's geometry.
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*
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* @param model The model of the target
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*/
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public void setModel(TargetModel model) {
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this.model = model;
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}
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/**
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* Returns the pose of this target on the field.
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*
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* @return The pose in field-relative coordinates
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*/
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public Pose3d getPose() {
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return pose;
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}
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/**
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* Returns the model describing this target's geometry.
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*
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* @return The model of the target
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*/
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public TargetModel getModel() {
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return model;
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}
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/** This target's vertices offset from its field pose. */
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public List<Translation3d> getFieldVertices() {
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return model.getFieldVertices(pose);
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}
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@Override
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public boolean equals(Object obj) {
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return this == obj
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&& obj instanceof VisionTargetSim o
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&& pose.equals(o.pose)
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&& model.equals(o.model);
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}
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}
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