Class OrinGyroSourceIO

java.lang.Object

frc.robot.subsystems.vision.OrinGyroSourceIO

All Implemented Interfaces:

PoseSourceIO

public class OrinGyroSourceIO
extends Object
implements PoseSourceIO

An Orin camera pose source that uses the robot's heading instead of solving for it. Built on the camera's OrinPoseSourceIO: it reads the results that source already logged and decoded, so it logs nothing new and runs in replay too. Logged and shadowed, not fused, until replay says it can be trusted. Only the newest usable result per loop is solved (CPU).

• OrinGyroSourceIO.Mode.GYRO_PNP (issue #10, section 3): PhotonLib's constrained SolvePnP over every usable tag with the heading held to the robot's at the frame's timestamp, seeded from the fused pose; one tag falls back to PhotonLib's distance-trig solve. The robot-side answer to the Limelight's MegaTag2, without its "last pushed heading" latency.
• OrinGyroSourceIO.Mode.TXTY (section 8c, 6328's addTxTyObservation): the closest tag's angles and solved distance, turned into a robot position with the robot's heading. The distance is reliable even when a single-tag pose is ambiguous; 6328 uses this for final alignment.

Both need the heading, so they report nothing until the pose is seeded.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	OrinGyroSourceIO.Mode	Which estimate this source makes.

Field Summary

Fields inherited from interface PoseSourceIO

NONE

Constructor Summary

Constructors

Constructor	Description
OrinGyroSourceIO(OrinGyroSourceIO.Mode mode, String cameraName, OrinPoseSourceIO camera, Transform3d robotToCamera, AprilTagFieldLayout layout, Supplier<Set<Integer>> excludedTags, DoubleFunction<Pose2d> fusedPoseAt)

Method Summary

Modifier and Type	Method	Description
boolean	derived()	Whether this IO computes its observations from inputs it logs itself, rather than reading a device.
void	updateInputs(PoseSourceInputs inputs)	Fills inputs with everything reported since the last call.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

OrinGyroSourceIO

public OrinGyroSourceIO(OrinGyroSourceIO.Mode mode,
 String cameraName,
 OrinPoseSourceIO camera,
 Transform3d robotToCamera,
 AprilTagFieldLayout layout,
 Supplier<Set<Integer>> excludedTags,
 DoubleFunction<Pose2d> fusedPoseAt)

Parameters:

mode - which estimate

cameraName - PhotonVision camera name, for the log path

camera - the camera's main source, which must update first each loop

robotToCamera - camera mount

layout - the field's tags

excludedTags - tags to leave out

fusedPoseAt - the fused pose at a capture time, or null before the pose is seeded

Method Details

derived

public boolean derived()

Description copied from interface: PoseSourceIO

Whether this IO computes its observations from inputs it logs itself, rather than reading a device. A derived IO runs in replay too (over its own replayed inputs), so PoseSource records its observations as outputs instead of restoring them from the log.

Specified by:

derived in interface PoseSourceIO

updateInputs

public void updateInputs(PoseSourceInputs inputs)

Description copied from interface: PoseSourceIO

Fills inputs with everything reported since the last call.

Specified by:

updateInputs in interface PoseSourceIO

Parameters:

inputs - the inputs to overwrite