Package frc.robot.subsystems.apriltagvision

Record Class AprilTagPoseEstimator.EstimationResult

java.lang.Object

java.lang.Record

frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.EstimationResult

Record Components:

measurement - the validated vision measurement, or empty if rejected

rejectionReason - the reason for rejection, or empty if accepted

Enclosing class:

AprilTagPoseEstimator

public static record AprilTagPoseEstimator.EstimationResult(Optional<AprilTagPoseEstimator.VisionMeasurement> measurement, Optional<AprilTagPoseEstimator.RejectionReason> rejectionReason)
extends Record

Result of evaluating a pose observation. Contains either an accepted measurement or a rejection reason for telemetry.

Constructor Summary

Constructors

Constructor	Description
EstimationResult(Optional<AprilTagPoseEstimator.VisionMeasurement> measurement, Optional<AprilTagPoseEstimator.RejectionReason> rejectionReason)	Creates an instance of a EstimationResult record class.

Method Summary

Modifier and Type	Method	Description
static AprilTagPoseEstimator.EstimationResult	accepted(AprilTagPoseEstimator.VisionMeasurement measurement)	Creates an accepted result containing a vision measurement.
final boolean	equals(Object o)	Indicates whether some other object is "equal to" this one.
final int	hashCode()	Returns a hash code value for this object.
Optional<AprilTagPoseEstimator.VisionMeasurement>	measurement()	Returns the value of the measurement record component.
static AprilTagPoseEstimator.EstimationResult	rejected(AprilTagPoseEstimator.RejectionReason reason)	Creates a rejected result with the given reason.
Optional<AprilTagPoseEstimator.RejectionReason>	rejectionReason()	Returns the value of the rejectionReason record component.
final String	toString()	Returns a string representation of this record class.

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details

EstimationResult

public EstimationResult(Optional<AprilTagPoseEstimator.VisionMeasurement> measurement,
 Optional<AprilTagPoseEstimator.RejectionReason> rejectionReason)

Creates an instance of a EstimationResult record class.

Parameters:

measurement - the value for the measurement record component

rejectionReason - the value for the rejectionReason record component

Method Details

accepted

public static AprilTagPoseEstimator.EstimationResult accepted(AprilTagPoseEstimator.VisionMeasurement measurement)

Creates an accepted result containing a vision measurement.

Parameters:

measurement - the validated measurement to forward to the pose estimator

Returns:

accepted result

rejected

public static AprilTagPoseEstimator.EstimationResult rejected(AprilTagPoseEstimator.RejectionReason reason)

Creates a rejected result with the given reason.

Parameters:

reason - why the observation was rejected

Returns:

rejected result

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 Objects::equals(Object,Object).

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.

measurement

public Optional<AprilTagPoseEstimator.VisionMeasurement> measurement()

Returns the value of the measurement record component.

Returns:

the value of the measurement record component

rejectionReason

public Optional<AprilTagPoseEstimator.RejectionReason> rejectionReason()

Returns the value of the rejectionReason record component.

Returns:

the value of the rejectionReason record component