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 java.util.Comparator;
028import org.photonvision.targeting.PhotonTrackedTarget;
029
030public enum PhotonTargetSortMode {
031    Smallest(Comparator.comparingDouble(PhotonTrackedTarget::getArea)),
032    Largest(Smallest.m_comparator.reversed()),
033    Highest(Comparator.comparingDouble(PhotonTrackedTarget::getPitch)),
034    Lowest(Highest.m_comparator.reversed()),
035    Rightmost(Comparator.comparingDouble(PhotonTrackedTarget::getYaw)),
036    Leftmost(Rightmost.m_comparator.reversed()),
037    Centermost(
038            Comparator.comparingDouble(
039                    target -> (Math.pow(target.getPitch(), 2) + Math.pow(target.getYaw(), 2))));
040
041    private final Comparator<PhotonTrackedTarget> m_comparator;
042
043    PhotonTargetSortMode(Comparator<PhotonTrackedTarget> comparator) {
044        m_comparator = comparator;
045    }
046
047    public Comparator<PhotonTrackedTarget> getComparator() {
048        return m_comparator;
049    }
050}