Package com.flarerobotics.lib.subsystem.vision.io

Class LibVisionIOPhotonVision

java.lang.Object

com.flarerobotics.lib.subsystem.vision.io.LibVisionIOPhotonVision

All Implemented Interfaces:

LibVisionIO

Direct Known Subclasses:

LibVisionIOPhotonVisionSim

public class LibVisionIOPhotonVision
extends Object
implements LibVisionIO

IO implementation for real PhotonVision hardware.

Nested Class Summary

Nested classes/interfaces inherited from interface com.flarerobotics.lib.subsystem.vision.LibVisionIO

LibVisionIO.PoseObservation, LibVisionIO.PoseObservationType, LibVisionIO.TargetObservation, LibVisionIO.VisionIOInputs

Field Summary

Fields

Modifier and Type	Field	Description
final org.photonvision.PhotonCamera	m_camera
final edu.wpi.first.math.geometry.Transform3d	m_robotToCamera

Constructor Summary

Constructors

Constructor	Description
LibVisionIOPhotonVision(String name, edu.wpi.first.math.geometry.Transform3d robotToCamera)	Constructs a new LibVisionIOPhotonVision.

Method Summary

Modifier and Type	Method	Description
void	setPipeline(int pipelineIndex)	Sets the current pipeline index.
void	updateInputs(LibVisionIO.VisionIOInputs inputs)	Updates the given vision inputs.

Methods inherited from class java.lang.Object

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

Field Details

m_camera

public final org.photonvision.PhotonCamera m_camera

m_robotToCamera

public final edu.wpi.first.math.geometry.Transform3d m_robotToCamera

Constructor Details

LibVisionIOPhotonVision

public LibVisionIOPhotonVision(String name,
 edu.wpi.first.math.geometry.Transform3d robotToCamera)

Constructs a new LibVisionIOPhotonVision.

Parameters:

name - The name of the camera.

robotToCamera - The 3D position of the camera relative to the robot (the offset from the center).

Method Details

updateInputs

public void updateInputs(LibVisionIO.VisionIOInputs inputs)

Description copied from interface: LibVisionIO

Updates the given vision inputs.

Specified by:

updateInputs in interface LibVisionIO

Parameters:

inputs - The inputs.

setPipeline

public void setPipeline(int pipelineIndex)

Description copied from interface: LibVisionIO

Sets the current pipeline index.

Specified by:

setPipeline in interface LibVisionIO

Parameters:

pipelineIndex - The index.