Package org.photonvision

Record Class PhotonPoseEstimator.ConstrainedSolvepnpParams

java.lang.Object
java.lang.Record
org.photonvision.PhotonPoseEstimator.ConstrainedSolvepnpParams
Record Components:
headingFree - If true, heading is completely free to vary. If false, heading excursions from the provided heading measurement will be penalized
headingScaleFactor - If headingFree is false, this weights the cost of changing our robot heading estimate against the tag corner reprojection error const.
Enclosing class:
PhotonPoseEstimator
public static record PhotonPoseEstimator.ConstrainedSolvepnpParams(boolean headingFree, double headingScaleFactor) extends Record
Tuning handles we have over the CONSTRAINED_SOLVEPNP PhotonPoseEstimator.PoseStrategy. Internally, the cost function is a sum-squared of pixel reprojection error + (optionally) heading error * heading scale factor.

  • Constructor Details

    • ConstrainedSolvepnpParams

      public ConstrainedSolvepnpParams(boolean headingFree, double headingScaleFactor)
      Creates an instance of a ConstrainedSolvepnpParams record class.
      Parameters:
      headingFree - the value for the headingFree record component
      headingScaleFactor - the value for the headingScaleFactor record component

  • Method Details

    • toString

      public final String toString()
      Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.
      Specified by:
      toString in class Record
      Returns:
      a string representation of this object

    • hashCode

      public final int hashCode()
      Returns a hash code value for this object. The value is derived from the hash code of each of the record components.
      Specified by:
      hashCode in class Record
      Returns:
      a hash code value for this object

    • equals

      public final boolean equals(Object o)
      Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with '=='.
      Specified by:
      equals in class Record
      Parameters:
      o - the object with which to compare
      Returns:
      true if this object is the same as the o argument; false otherwise.

    • headingFree

      public boolean headingFree()
      Returns the value of the headingFree record component.
      Returns:
      the value of the headingFree record component

    • headingScaleFactor

      public double headingScaleFactor()
      Returns the value of the headingScaleFactor record component.
      Returns:
      the value of the headingScaleFactor record component