Malefix/xyz.malefic.frc.sub/PhotonModule

PhotonModule

class PhotonModule(val cameraName: String, val cameraPos: Transform3d, fieldLayout: AprilTagFieldLayout)

The PhotonModule class represents a single PhotonVision camera setup with its associated PhotonPoseEstimator and position information.

Constructors

constructor(cameraName: String, cameraPos: Transform3d, fieldLayout: AprilTagFieldLayout)

Types

object Companion

Properties

allUnreadResults

val allUnreadResults: MutableList<PhotonPipelineResult>

Retrieves all unread PhotonPipelineResults from the PhotonCamera.

val camera: PhotonCamera

The PhotonCamera instance for this module.

val cameraName: String

The name of the camera.

val cameraPos: Transform3d

The position of the camera as a Transform3d.

var currentStdDevs: Matrix<N3, N1>?

The current standard deviations for 2D pose estimation as a Matrix.

currentStdDevs3d

var currentStdDevs3d: Matrix<N4, N1>?

The current standard deviations for 3D pose estimation as a Matrix.

val poseEstimator: PhotonPoseEstimator

The PhotonPoseEstimator instance for estimating the robot's pose.

Functions

updateEstimatedStdDevs

fun updateEstimatedStdDevs(estimatedPose: Optional<EstimatedRobotPose>, targets: List<PhotonTrackedTarget>, singleTargetVector: Matrix<N3, N1> = DEFAULT_SINGLE_TARGET_STD_DEVS_2D, multiTargetVector: Matrix<N3, N1> = DEFAULT_MULTI_TARGET_STD_DEVS_2D)

Updates the estimated standard deviations based on the provided EstimatedRobotPose and PhotonTrackedTargets.

updateEstimatedStdDevs3d

fun updateEstimatedStdDevs3d(estimatedPose: Optional<EstimatedRobotPose>, targets: List<PhotonTrackedTarget>, singleTargetVector: Matrix<N4, N1> = DEFAULT_SINGLE_TARGET_STD_DEVS_3D, multiTargetVector: Matrix<N4, N1> = DEFAULT_MULTI_TARGET_STD_DEVS_3D)

Updates the estimated 3D standard deviations based on the provided EstimatedRobotPose and PhotonTrackedTargets.