Package frc.robot.subsystems.vision

Class Vision.VisionFieldPoseEstimate

java.lang.Object

frc.robot.subsystems.vision.Vision.VisionFieldPoseEstimate

Enclosing class:

Vision

public class Vision.VisionFieldPoseEstimate
extends Object

Immutable data class that bundles a vision-derived field pose with its FPGA timestamp and covariance matrix, ready for use with SwerveDrivePoseEstimator.addVisionMeasurement().

Constructor Summary

Constructors

Constructor	Description
VisionFieldPoseEstimate(Pose2d visionRobotPoseMeters, double timestampSeconds, Matrix<N3,N1> visionMeasurementStdDevs, int numTags)

Method Summary

Modifier and Type	Method	Description
int	getNumTags()	Number of AprilTags that contributed to this estimate.
double	getTimestampSeconds()	The FPGA-converted timestamp of this measurement (seconds).
Matrix<N3,N1>	getVisionMeasurementStdDevs()	The 3×1 standard-deviation vector [x, y, theta] passed to the pose estimator.
Pose2d	getVisionRobotPoseMeters()	The estimated field-relative robot pose (metres, radians).

Methods inherited from class java.lang.Object

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

Constructor Details

VisionFieldPoseEstimate

public VisionFieldPoseEstimate(Pose2d visionRobotPoseMeters,
 double timestampSeconds,
 Matrix<N3,N1> visionMeasurementStdDevs,
 int numTags)

Parameters:

visionRobotPoseMeters - field-relative robot pose

timestampSeconds - FPGA-converted capture timestamp

visionMeasurementStdDevs - 3×1 std-dev vector [x, y, theta]

numTags - number of tags used in the solve

Method Details

getVisionRobotPoseMeters

public Pose2d getVisionRobotPoseMeters()

The estimated field-relative robot pose (metres, radians).

getTimestampSeconds

public double getTimestampSeconds()

The FPGA-converted timestamp of this measurement (seconds).

getVisionMeasurementStdDevs

public Matrix<N3,N1> getVisionMeasurementStdDevs()

The 3×1 standard-deviation vector [x, y, theta] passed to the pose estimator. Larger values indicate less trust in that dimension.

getNumTags

public int getNumTags()

Number of AprilTags that contributed to this estimate.