Class SimVision.QuestSimIO

java.lang.Object

frc.robot.subsystems.vision.SimVision.QuestSimIO

All Implemented Interfaces:

QuestNavControl, PoseSourceIO

Enclosing class:

SimVision

public static final class SimVision.QuestSimIO
extends Object
implements PoseSourceIO, QuestNavControl

Simulated QuestNav: reports truth in its own frame, which lines up with the field only after resetPose(Pose2d), plus a random-walk drift. Seeded, so a sim run is repeatable.

Field Summary

Fields inherited from interface PoseSourceIO

NONE

Fields inherited from interface QuestNavControl

NONE

Constructor Summary

Constructors

Constructor	Description
QuestSimIO(Supplier<Optional<Pose2d>> truth)

Method Summary

Modifier and Type	Method	Description
void	resetPose(Pose2d robotPose)	Tells the Quest the robot's current field pose.
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

Methods inherited from interface PoseSourceIO

derived

Constructor Details

QuestSimIO

public QuestSimIO(Supplier<Optional<Pose2d>> truth)

Method Details

resetPose

public void resetPose(Pose2d robotPose)

Description copied from interface: QuestNavControl

Tells the Quest the robot's current field pose.

Specified by:

resetPose in interface QuestNavControl

Parameters:

robotPose - robot pose on the field now

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