Combines estimated poses from an aritrary number of PhotonVision cameras and applies them to a Holonomic pose estimator. More...

Classes
class	PhotonCameraEstimator
	Represents a single camera. More...

Public Member Functions
	PhotonVisionEstimators (std::vector< PhotonCameraEstimator > &estms, Eigen::Matrix< double, 3, 1 > singleTagStdDevs, Eigen::Matrix< double, 3, 1 > multiTagStdDevs)

std::optional< photon::EstimatedRobotPose >	GetPoseFromCamera (frc::Pose3d prevPose, photon::PhotonPoseEstimator &est, photon::PhotonCamera &camera, double maxAbmiguity=0.2)

void	UpdateEstimatedGlobalPose (frc::SwerveDrivePoseEstimator< 4U > &estimator, bool test)
	Call in the drivetrain's Periodic method to update the estimated robot's position.

Eigen::Matrix< double, 3, 1 >	GetEstimationStdDevs (photon::EstimatedRobotPose &pose, PhotonCameraEstimator &photonEst)

Detailed Description

Combines estimated poses from an aritrary number of PhotonVision cameras and applies them to a Holonomic pose estimator.

Definition at line 21 of file PhotonVisionEstimators.h.

Constructor & Destructor Documentation

subzero::PhotonVisionEstimators::PhotonVisionEstimators	(	std::vector< PhotonCameraEstimator > &	estms,
		Eigen::Matrix< double, 3, 1 >	singleTagStdDevs,
		Eigen::Matrix< double, 3, 1 >	multiTagStdDevs )

inlineexplicit

Definition at line 38 of file PhotonVisionEstimators.h.

Eigen::Matrix< double, 3, 1 > subzero::PhotonVisionEstimators::GetEstimationStdDevs	(	photon::EstimatedRobotPose &	pose,
		PhotonCameraEstimator &	photonEst )

inline

Definition at line 98 of file PhotonVisionEstimators.h.

std::optional< photon::EstimatedRobotPose > subzero::PhotonVisionEstimators::GetPoseFromCamera	(	frc::Pose3d	prevPose,
		photon::PhotonPoseEstimator &	est,
		photon::PhotonCamera &	camera,
		double	maxAbmiguity = 0.2 )

inline

Definition at line 50 of file PhotonVisionEstimators.h.

void subzero::PhotonVisionEstimators::UpdateEstimatedGlobalPose	(	frc::SwerveDrivePoseEstimator< 4U > &	estimator,
		bool	test )

inline

Call in the drivetrain's Periodic method to update the estimated robot's position.

Parameters

estimator
test

Definition at line 84 of file PhotonVisionEstimators.h.

The documentation for this class was generated from the following file: