mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-28 02:11:40 +00:00
60 lines
2.1 KiB
C++
60 lines
2.1 KiB
C++
/*
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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
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* all 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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#pragma once
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#include <frc/geometry/Pose3d.h>
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#include <units/area.h>
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namespace photonlib {
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class SimVisionTarget {
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public:
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SimVisionTarget() = default;
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/**
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* Describes a vision target located somewhere on the field that your
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* SimVisionSystem can detect.
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*
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* @param targetPose Pose3d of the target in field-relative coordinates
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* @param targetWidth Width of the outer bounding box of the target.
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* @param targetHeight Pair Height of the outer bounding box of the
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* target.
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* @param targetId Id of the target
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*/
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SimVisionTarget(frc::Pose3d targetPose, units::meter_t targetWidth,
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units::meter_t targetHeight, int targetId)
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: targetPose(targetPose),
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targetWidth(targetWidth),
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targetHeight(targetHeight),
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targetArea(targetHeight * targetWidth),
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targetId(targetId) {}
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frc::Pose3d targetPose;
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units::meter_t targetWidth;
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units::meter_t targetHeight;
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units::square_meter_t targetArea;
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int targetId;
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};
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} // namespace photonlib
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