Package com.titaniumtigers4829.data.pose

Record Class PoseEstimate

java.lang.Object
java.lang.Record
com.titaniumtigers4829.data.pose.PoseEstimate
public record PoseEstimate(edu.wpi.first.math.geometry.Pose2d pose, double timestampSeconds, double latency, int tagCount, double tagSpan, double avgTagDist, double avgTagArea, RawFiducial[] rawFiducials, boolean isMegaTag2, Botpose botpose) extends Record
Represents a Limelight pose estimate from Limelight's NetworkTables output. This is for any botpose estimate, so MegaTag1 or MegaTag2

  • Constructor Summary

    Constructors
    Constructor
    Description
    PoseEstimate()
    Initializes an "empty" PoseEstimate record with default values
    PoseEstimate(edu.wpi.first.math.geometry.Pose2d pose, double timestampSeconds, double latency, int tagCount, double tagSpan, double avgTagDist, double avgTagArea, RawFiducial[] rawFiducials, boolean isMegaTag2, Botpose botpose)
    Creates an instance of a PoseEstimate record class.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    avgTagArea()
    Returns the value of the avgTagArea record component.
    double
    avgTagDist()
    Returns the value of the avgTagDist record component.
    Botpose
    botpose()
    Returns the value of the botpose record component.
    boolean
    equals(Object obj)
    Indicates whether some other object is "equal to" this one.
    final int
    hashCode()
    Returns a hash code value for this object.
    boolean
    isMegaTag2()
    Returns the value of the isMegaTag2 record component.
    boolean
    isValidPoseEstimate()
    Checks if the PoseEstimate is valid.
    double
    latency()
    Returns the value of the latency record component.
    edu.wpi.first.math.geometry.Pose2d
    pose()
    Returns the value of the pose record component.
    RawFiducial[]
    rawFiducials()
    Returns the value of the rawFiducials record component.
    int
    tagCount()
    Returns the value of the tagCount record component.
    double
    tagSpan()
    Returns the value of the tagSpan record component.
    double
    timestampSeconds()
    Returns the value of the timestampSeconds record component.
    final String
    toString()
    Returns a string representation of this record class.

    Methods inherited from class java.lang.Object

    clone, finalize, getClass, notify, notifyAll, wait, wait, wait

  • Constructor Details

    • PoseEstimate

      public PoseEstimate()
      Initializes an "empty" PoseEstimate record with default values

    • PoseEstimate

      public PoseEstimate(edu.wpi.first.math.geometry.Pose2d pose, double timestampSeconds, double latency, int tagCount, double tagSpan, double avgTagDist, double avgTagArea, RawFiducial[] rawFiducials, boolean isMegaTag2, Botpose botpose)
      Creates an instance of a PoseEstimate record class.
      Parameters:
      pose - the value for the pose record component
      timestampSeconds - the value for the timestampSeconds record component
      latency - the value for the latency record component
      tagCount - the value for the tagCount record component
      tagSpan - the value for the tagSpan record component
      avgTagDist - the value for the avgTagDist record component
      avgTagArea - the value for the avgTagArea record component
      rawFiducials - the value for the rawFiducials record component
      isMegaTag2 - the value for the isMegaTag2 record component
      botpose - the value for the botpose record component

  • Method Details

    • equals

      public boolean equals(Object obj)
      Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. Reference components are compared with Objects::equals(Object,Object); primitive components are compared with '=='.
      Specified by:
      equals in class Record
      Parameters:
      obj - the object with which to compare
      Returns:
      true if this object is the same as the obj argument; false otherwise.

    • isValidPoseEstimate

      public boolean isValidPoseEstimate()
      Checks if the PoseEstimate is valid. If this is true, it means the PoseEstimate has valid data from at least one april tag.
      Returns:
      True if the PoseEstimate is valid, false otherwise

    • toString

      public final String toString()
      Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.
      Specified by:
      toString in class Record
      Returns:
      a string representation of this object

    • hashCode

      public final int hashCode()
      Returns a hash code value for this object. The value is derived from the hash code of each of the record components.
      Specified by:
      hashCode in class Record
      Returns:
      a hash code value for this object

    • pose

      public edu.wpi.first.math.geometry.Pose2d pose()
      Returns the value of the pose record component.
      Returns:
      the value of the pose record component

    • timestampSeconds

      public double timestampSeconds()
      Returns the value of the timestampSeconds record component.
      Returns:
      the value of the timestampSeconds record component

    • latency

      public double latency()
      Returns the value of the latency record component.
      Returns:
      the value of the latency record component

    • tagCount

      public int tagCount()
      Returns the value of the tagCount record component.
      Returns:
      the value of the tagCount record component

    • tagSpan

      public double tagSpan()
      Returns the value of the tagSpan record component.
      Returns:
      the value of the tagSpan record component

    • avgTagDist

      public double avgTagDist()
      Returns the value of the avgTagDist record component.
      Returns:
      the value of the avgTagDist record component

    • avgTagArea

      public double avgTagArea()
      Returns the value of the avgTagArea record component.
      Returns:
      the value of the avgTagArea record component

    • rawFiducials

      public RawFiducial[] rawFiducials()
      Returns the value of the rawFiducials record component.
      Returns:
      the value of the rawFiducials record component

    • isMegaTag2

      public boolean isMegaTag2()
      Returns the value of the isMegaTag2 record component.
      Returns:
      the value of the isMegaTag2 record component

    • botpose

      public Botpose botpose()
      Returns the value of the botpose record component.
      Returns:
      the value of the botpose record component