mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-19 00:41:41 +00:00
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.
89 lines
3.2 KiB
Java
89 lines
3.2 KiB
Java
/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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package org.photonvision.targeting;
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import edu.wpi.first.util.protobuf.ProtobufSerializable;
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import java.util.List;
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import org.photonvision.common.dataflow.structures.PacketSerde;
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import org.photonvision.struct.MultiTargetPNPResultSerde;
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import org.photonvision.targeting.proto.MultiTargetPNPResultProto;
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import org.photonvision.targeting.serde.PhotonStructSerializable;
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public class MultiTargetPNPResult
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implements ProtobufSerializable, PhotonStructSerializable<MultiTargetPNPResult> {
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// Seeing 32 apriltags at once seems like a sane limit
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private static final int MAX_IDS = 32;
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public PnpResult estimatedPose = new PnpResult();
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/** The fiducial IDs used to calculate this multi-target result. */
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public List<Short> fiducialIDsUsed = List.of();
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/** Used for serialization and tests. */
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public MultiTargetPNPResult() {}
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public MultiTargetPNPResult(PnpResult results, List<Short> ids) {
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estimatedPose = results;
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fiducialIDsUsed = ids;
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}
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@Override
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public int hashCode() {
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final int prime = 31;
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int result = 1;
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result = prime * result + ((estimatedPose == null) ? 0 : estimatedPose.hashCode());
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result = prime * result + ((fiducialIDsUsed == null) ? 0 : fiducialIDsUsed.hashCode());
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return result;
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}
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@Override
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public boolean equals(Object obj) {
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if (this == obj) return true;
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if (obj == null) return false;
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if (getClass() != obj.getClass()) return false;
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MultiTargetPNPResult other = (MultiTargetPNPResult) obj;
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if (estimatedPose == null) {
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if (other.estimatedPose != null) return false;
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} else if (!estimatedPose.equals(other.estimatedPose)) return false;
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if (fiducialIDsUsed == null) {
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if (other.fiducialIDsUsed != null) return false;
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} else if (!fiducialIDsUsed.equals(other.fiducialIDsUsed)) return false;
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return true;
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}
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@Override
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public String toString() {
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return "MultiTargetPNPResult [estimatedPose="
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+ estimatedPose
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+ ", fiducialIDsUsed="
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+ fiducialIDsUsed
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+ "]";
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}
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/** MultiTargetPNPResult protobuf for serialization. */
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public static final MultiTargetPNPResultProto proto = new MultiTargetPNPResultProto();
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/** MultiTargetPNPResult PhotonStruct for serialization. */
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public static final MultiTargetPNPResultSerde photonStruct = new MultiTargetPNPResultSerde();
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@Override
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public PacketSerde<MultiTargetPNPResult> getSerde() {
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return photonStruct;
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}
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}
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