001/*
002 * MIT License
003 *
004 * Copyright (c) PhotonVision
005 *
006 * Permission is hereby granted, free of charge, to any person obtaining a copy
007 * of this software and associated documentation files (the "Software"), to deal
008 * in the Software without restriction, including without limitation the rights
009 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
010 * copies of the Software, and to permit persons to whom the Software is
011 * furnished to do so, subject to the following conditions:
012 *
013 * The above copyright notice and this permission notice shall be included in all
014 * copies or substantial portions of the Software.
015 *
016 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
017 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
018 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
019 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
020 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
021 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
022 * SOFTWARE.
023 */
024
025package org.photonvision;
026
027import edu.wpi.first.math.geometry.Pose3d;
028import java.util.List;
029import org.photonvision.PhotonPoseEstimator.PoseStrategy;
030import org.photonvision.targeting.PhotonTrackedTarget;
031
032/** An estimated pose based on pipeline result */
033public class EstimatedRobotPose {
034    /** The estimated pose */
035    public final Pose3d estimatedPose;
036
037    /** The estimated time the frame used to derive the robot pose was taken */
038    public final double timestampSeconds;
039
040    /** A list of the targets used to compute this pose */
041    public final List<PhotonTrackedTarget> targetsUsed;
042
043    /** The strategy actually used to produce this pose */
044    public final PoseStrategy strategy;
045
046    /**
047     * Constructs an EstimatedRobotPose
048     *
049     * @param estimatedPose estimated pose
050     * @param timestampSeconds timestamp of the estimate
051     * @param targetsUsed list of targets used
052     */
053    public EstimatedRobotPose(
054            Pose3d estimatedPose, double timestampSeconds, List<PhotonTrackedTarget> targetsUsed) {
055        this.estimatedPose = estimatedPose;
056        this.timestampSeconds = timestampSeconds;
057        this.targetsUsed = targetsUsed;
058        this.strategy = null;
059    }
060
061    /**
062     * Constructs an EstimatedRobotPose
063     *
064     * @param estimatedPose estimated pose
065     * @param timestampSeconds timestamp of the estimate
066     * @param targetsUsed targets used to compute the pose
067     * @param strategy the strategy used to compute the pose
068     */
069    public EstimatedRobotPose(
070            Pose3d estimatedPose,
071            double timestampSeconds,
072            List<PhotonTrackedTarget> targetsUsed,
073            PoseStrategy strategy) {
074        this.estimatedPose = estimatedPose;
075        this.timestampSeconds = timestampSeconds;
076        this.targetsUsed = targetsUsed;
077        this.strategy = strategy;
078    }
079}