Class EstimatedRobotPose

java.lang.Object

org.photonvision.EstimatedRobotPose

public class EstimatedRobotPose
extends Object

An estimated pose based on pipeline result

Field Summary

Fields

Modifier and Type	Field	Description
final org.wpilib.math.geometry.Pose3d	estimatedPose	The estimated pose
final PhotonPoseEstimator.PoseStrategy	strategy	The strategy actually used to produce this pose
final List<PhotonTrackedTarget>	targetsUsed	A list of the targets used to compute this pose
final double	timestampSeconds	The estimated time the frame used to derive the robot pose was taken

Constructor Summary

Constructors

Constructor	Description
EstimatedRobotPose(org.wpilib.math.geometry.Pose3d estimatedPose, double timestampSeconds, List<PhotonTrackedTarget> targetsUsed)	Constructs an EstimatedRobotPose
EstimatedRobotPose(org.wpilib.math.geometry.Pose3d estimatedPose, double timestampSeconds, List<PhotonTrackedTarget> targetsUsed, PhotonPoseEstimator.PoseStrategy strategy)	Constructs an EstimatedRobotPose

Method Summary

Methods inherited from class Object

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

Field Details

estimatedPose

public final org.wpilib.math.geometry.Pose3d estimatedPose

The estimated pose

timestampSeconds

public final double timestampSeconds

The estimated time the frame used to derive the robot pose was taken

targetsUsed

public final List<PhotonTrackedTarget> targetsUsed

A list of the targets used to compute this pose

strategy

public final PhotonPoseEstimator.PoseStrategy strategy

The strategy actually used to produce this pose

Constructor Details

EstimatedRobotPose

public EstimatedRobotPose(org.wpilib.math.geometry.Pose3d estimatedPose,
 double timestampSeconds,
 List<PhotonTrackedTarget> targetsUsed)

Constructs an EstimatedRobotPose

Parameters:

estimatedPose - estimated pose

timestampSeconds - timestamp of the estimate

targetsUsed - list of targets used

EstimatedRobotPose

public EstimatedRobotPose(org.wpilib.math.geometry.Pose3d estimatedPose,
 double timestampSeconds,
 List<PhotonTrackedTarget> targetsUsed,
 PhotonPoseEstimator.PoseStrategy strategy)

Constructs an EstimatedRobotPose

Parameters:

estimatedPose - estimated pose

timestampSeconds - timestamp of the estimate

targetsUsed - targets used to compute the pose

strategy - the strategy used to compute the pose