Package frc.robot.shared.subsystems

Interface VisionMeasurementConsumer

Functional Interface:
This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.
@FunctionalInterface public interface VisionMeasurementConsumer
Functional interface for accepting a vision-based robot pose measurement along with its uncertainty.

Use this to decouple vision producers (cameras, LIDAR, etc.) from the pose fusion consumer so new pose sources can be added with a single wiring change in RobotContainer.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    accept(edu.wpi.first.math.geometry.Pose2d pose, double timestampSeconds, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> standardDeviations)
    Accepts a vision pose measurement for fusion into the robot pose estimate.

  • Method Details

    • accept

      void accept(edu.wpi.first.math.geometry.Pose2d pose, double timestampSeconds, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> standardDeviations)
      Accepts a vision pose measurement for fusion into the robot pose estimate.
      Parameters:
      pose - measured robot pose in meters and radians
      timestampSeconds - FPGA timestamp of the measurement in seconds
      standardDeviations - uncertainty in x (meters), y (meters), and rotation (radians)