Package frc.robot.subsystems.apriltagvision.io

Class AprilTagVisionIOPhotonVisionSim

java.lang.Object

frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVisionSim

All Implemented Interfaces:

AprilTagVisionIO

public class AprilTagVisionIOPhotonVisionSim
extends AprilTagVisionIOPhotonVision

AprilTagVisionIO implementation to use during simulation.

The pose supplier should provide raw odometry or ground-truth poses. Do not use the fused robot state pose to avoid feedback loops that can make simulated vision look unrealistically perfect.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.apriltagvision.io.AprilTagVisionIO

AprilTagVisionIO.AprilTagVisionIOInputs, AprilTagVisionIO.PoseObservation, AprilTagVisionIO.TargetObservation

Field Summary

Fields inherited from class frc.robot.subsystems.apriltagvision.io.AprilTagVisionIOPhotonVision

camera, fieldLayout, maxTagDistanceMeters, robotToCamera

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionIOPhotonVisionSim(String cameraName, edu.wpi.first.math.geometry.Transform3d robotToCamera, edu.wpi.first.apriltag.AprilTagFieldLayout fieldLayout, double maxTagDistanceMeters, Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)	Construct the instance with the usual config plus a live robot pose supplier.

Method Summary

Modifier and Type	Method	Description
void	updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)	Refreshes the inputs structure with the latest state from the vision subsystem.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

AprilTagVisionIOPhotonVisionSim

public AprilTagVisionIOPhotonVisionSim(String cameraName,
 edu.wpi.first.math.geometry.Transform3d robotToCamera,
 edu.wpi.first.apriltag.AprilTagFieldLayout fieldLayout,
 double maxTagDistanceMeters,
 Supplier<edu.wpi.first.math.geometry.Pose2d> poseSupplier)

Construct the instance with the usual config plus a live robot pose supplier.

Use the drive base pose so the simulated camera can render realistic tag observations.

Parameters:

cameraName - name of the PhotonVision camera instance

robotToCamera - robot-to-camera transform in meters and radians

fieldLayout - AprilTag field layout used for tag poses

maxTagDistanceMeters - maximum distance in meters from camera to a tag; tags beyond this are excluded

poseSupplier - supplier of the robot pose used for simulation updates (odometry or ground truth, not fused robot state)

Method Details

updateInputs

public void updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)

Description copied from interface: AprilTagVisionIO

Refreshes the inputs structure with the latest state from the vision subsystem.

Specified by:

updateInputs in interface AprilTagVisionIO

Overrides:

updateInputs in class AprilTagVisionIOPhotonVision

Parameters:

inputs - mutable inputs container to populate for logging