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35 lines
1.0 KiB
Python
35 lines
1.0 KiB
Python
#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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import random
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import wpimath
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import wpimath.units
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class ExampleGlobalMeasurementSensor:
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"""This dummy class represents a global measurement sensor, such as a computer vision
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solution.
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"""
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def __init__(self) -> None:
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raise RuntimeError("Utility class")
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@staticmethod
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def getEstimatedGlobalPose(estimatedRobotPose: wpimath.Pose2d) -> wpimath.Pose2d:
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"""Get a "noisy" fake global pose reading.
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:param estimatedRobotPose: The robot pose.
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"""
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rand_x = random.gauss(0.0, 0.5)
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rand_y = random.gauss(0.0, 0.5)
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rand_rot = random.gauss(0.0, wpimath.units.degreesToRadians(30))
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return wpimath.Pose2d(
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estimatedRobotPose.x + rand_x,
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estimatedRobotPose.y + rand_y,
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estimatedRobotPose.rotation().rotateBy(wpimath.Rotation2d(rand_rot)),
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)
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