Package frc.robot.subsystems.apriltagvision

Record Class AprilTagPoseEstimator.VisionMeasurement

java.lang.Object
java.lang.Record
frc.robot.subsystems.apriltagvision.AprilTagPoseEstimator.VisionMeasurement
Record Components:
pose - the estimated robot pose in meters and radians
timestampSeconds - the timestamp when the observation was captured in seconds
standardDeviations - uncertainty in x, y (meters) and rotation (radians)
Enclosing class:
AprilTagPoseEstimator
public static record AprilTagPoseEstimator.VisionMeasurement(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) extends Record
A validated vision measurement ready for pose estimation fusion.

  • Constructor Summary

    Constructors
    Constructor
    Description
    VisionMeasurement(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)
    Creates an instance of a VisionMeasurement record class.

  • Method Summary

    Modifier and Type
    Method
    Description
    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.
    edu.wpi.first.math.geometry.Pose2d
    pose()
    Returns the value of the pose record component.
    edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1>
    standardDeviations()
    Returns the value of the standardDeviations record component.
    double
    timestampSeconds()
    Returns the value of the timestampSeconds 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

    • VisionMeasurement

      public VisionMeasurement(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)
      Creates an instance of a VisionMeasurement record class.
      Parameters:
      pose - the value for the pose record component
      timestampSeconds - the value for the timestampSeconds record component
      standardDeviations - the value for the standardDeviations record component

  • Method Details

    • 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. Reference components are compared with Objects::equals(Object,Object); primitive components are compared with '=='.
      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.

    • pose

      public edu.wpi.first.math.geometry.Pose2d pose()
      Returns the value of the pose record component.
      Returns:
      the value of the pose record component

    • timestampSeconds

      public double timestampSeconds()
      Returns the value of the timestampSeconds record component.
      Returns:
      the value of the timestampSeconds record component

    • standardDeviations

      public edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N3,edu.wpi.first.math.numbers.N1> standardDeviations()
      Returns the value of the standardDeviations record component.
      Returns:
      the value of the standardDeviations record component