LimelightHelpers Namespace Reference

Namespaces
namespace	internal

Classes
class	ClassificationResultClass
class	DetectionResultClass
class	FiducialResultClass
class	LimelightResultsClass
class	PoseEstimate
class	RawFiducial
class	RetroreflectiveResultClass
class	SingleTargetingResultClass
class	VisionResultsClass

Functions
std::string	sanitizeName (const std::string &name)
frc::Pose3d	toPose3D (const std::vector< double > &inData)
frc::Pose2d	toPose2D (const std::vector< double > &inData)
std::shared_ptr< nt::NetworkTable >	getLimelightNTTable (const std::string &tableName)
nt::NetworkTableEntry	getLimelightNTTableEntry (const std::string &tableName, const std::string &entryName)
double	getLimelightNTDouble (const std::string &tableName, const std::string &entryName)
std::vector< double >	getLimelightNTDoubleArray (const std::string &tableName, const std::string &entryName)
std::string	getLimelightNTString (const std::string &tableName, const std::string &entryName)
void	setLimelightNTDouble (const std::string &tableName, const std::string entryName, double val)
void	setLimelightNTDoubleArray (const std::string &tableName, const std::string &entryName, const std::span< const double > &vals)
double	getTX (const std::string &limelightName="")
double	getTV (const std::string &limelightName="")
double	getTY (const std::string &limelightName="")
double	getTA (const std::string &limelightName="")
double	getLatency_Pipeline (const std::string &limelightName="")
double	getLatency_Capture (const std::string &limelightName="")
std::string	getJSONDump (const std::string &limelightName="")
std::vector< double >	getBotpose (const std::string &limelightName="")
std::vector< double >	getBotpose_wpiRed (const std::string &limelightName="")
std::vector< double >	getBotpose_wpiBlue (const std::string &limelightName="")
std::vector< double >	getBotpose_TargetSpace (const std::string &limelightName="")
std::vector< double >	getCameraPose_TargetSpace (const std::string &limelightName="")
std::vector< double >	getCameraPose_RobotSpace (const std::string &limelightName="")
std::vector< double >	getTargetPose_CameraSpace (const std::string &limelightName="")
std::vector< double >	getTargetPose_RobotSpace (const std::string &limelightName="")
std::vector< double >	getTargetColor (const std::string &limelightName="")
double	getFiducialID (const std::string &limelightName="")
std::string	getNeuralClassID (const std::string &limelightName="")
void	setPipelineIndex (const std::string &limelightName, int index)
void	setPriorityTagID (const std::string &limelightName, int ID)
void	setLEDMode_PipelineControl (const std::string &limelightName="")
void	setLEDMode_ForceOff (const std::string &limelightName="")
void	setLEDMode_ForceBlink (const std::string &limelightName="")
void	setLEDMode_ForceOn (const std::string &limelightName="")
void	setStreamMode_Standard (const std::string &limelightName="")
void	setStreamMode_PiPMain (const std::string &limelightName="")
void	setStreamMode_PiPSecondary (const std::string &limelightName="")
void	setCropWindow (const std::string &limelightName, double cropXMin, double cropXMax, double cropYMin, double cropYMax)
void	SetRobotOrientation (const std::string &limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate)
void	SetFiducialIDFiltersOverride (const std::string &limelightName, const std::vector< int > &validIDs)
void	setCameraPose_RobotSpace (const std::string &limelightName, double forward, double side, double up, double roll, double pitch, double yaw)
void	setPythonScriptData (const std::string &limelightName, const std::vector< double > &outgoingPythonData)
std::vector< double >	getPythonScriptData (const std::string &limelightName="")
double	extractBotPoseEntry (const std::vector< double > &inData, int position)
PoseEstimate	getBotPoseEstimate (const std::string &limelightName, const std::string &entryName)
PoseEstimate	getBotPoseEstimate_wpiBlue (const std::string &limelightName="")
PoseEstimate	getBotPoseEstimate_wpiRed (const std::string &limelightName="")
PoseEstimate	getBotPoseEstimate_wpiBlue_MegaTag2 (const std::string &limelightName="")
PoseEstimate	getBotPoseEstimate_wpiRed_MegaTag2 (const std::string &limelightName="")
void	SetupPortForwarding (const std::string &limelightName)
template<typename T, typename KeyType>
T	SafeJSONAccess (const wpi::json &jsonData, const KeyType &key, const T &defaultValue)
void	from_json (const wpi::json &j, RetroreflectiveResultClass &t)
void	from_json (const wpi::json &j, FiducialResultClass &t)
void	from_json (const wpi::json &j, DetectionResultClass &t)
void	from_json (const wpi::json &j, ClassificationResultClass &t)
void	from_json (const wpi::json &j, VisionResultsClass &t)
void	from_json (const wpi::json &j, LimelightResultsClass &t)
LimelightResultsClass	getLatestResults (const std::string &limelightName="", bool profile=false)
std::optional< std::vector< double > >	getCurrentCorners (const std::string &limelightName="")

Variables
const double	INVALID_TARGET = 0.0

Function Documentation

extractBotPoseEntry()

double LimelightHelpers::extractBotPoseEntry ( const std::vector< double > & inData, int position )

inline

Definition at line 289 of file LimelightHelpers.h.

from_json() [1/6]

void LimelightHelpers::from_json ( const wpi::json & j, ClassificationResultClass & t )

inline

Definition at line 648 of file LimelightHelpers.h.

from_json() [2/6]

void LimelightHelpers::from_json ( const wpi::json & j, DetectionResultClass & t )

inline

Definition at line 630 of file LimelightHelpers.h.

from_json() [3/6]

void LimelightHelpers::from_json ( const wpi::json & j, FiducialResultClass & t )

inline

Definition at line 599 of file LimelightHelpers.h.

from_json() [4/6]

void LimelightHelpers::from_json ( const wpi::json & j, LimelightResultsClass & t )

inline

Definition at line 695 of file LimelightHelpers.h.

from_json() [5/6]

void LimelightHelpers::from_json ( const wpi::json & j, RetroreflectiveResultClass & t )

inline

Definition at line 569 of file LimelightHelpers.h.

from_json() [6/6]

void LimelightHelpers::from_json ( const wpi::json & j, VisionResultsClass & t )

inline

Definition at line 666 of file LimelightHelpers.h.

getBotpose()

std::vector< double > LimelightHelpers::getBotpose ( const std::string & limelightName = "" )

inline

Definition at line 136 of file LimelightHelpers.h.

getBotpose_TargetSpace()

std::vector< double > LimelightHelpers::getBotpose_TargetSpace ( const std::string & limelightName = "" )

inline

Definition at line 151 of file LimelightHelpers.h.

getBotpose_wpiBlue()

std::vector< double > LimelightHelpers::getBotpose_wpiBlue ( const std::string & limelightName = "" )

inline

Definition at line 146 of file LimelightHelpers.h.

getBotpose_wpiRed()

std::vector< double > LimelightHelpers::getBotpose_wpiRed ( const std::string & limelightName = "" )

inline

Definition at line 141 of file LimelightHelpers.h.

getBotPoseEstimate()

PoseEstimate LimelightHelpers::getBotPoseEstimate ( const std::string & limelightName, const std::string & entryName )

inline

Definition at line 334 of file LimelightHelpers.h.

getBotPoseEstimate_wpiBlue()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiBlue ( const std::string & limelightName = "" )

inline

Definition at line 375 of file LimelightHelpers.h.

getBotPoseEstimate_wpiBlue_MegaTag2()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiBlue_MegaTag2 ( const std::string & limelightName = "" )

inline

Definition at line 385 of file LimelightHelpers.h.

getBotPoseEstimate_wpiRed()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiRed ( const std::string & limelightName = "" )

inline

Definition at line 380 of file LimelightHelpers.h.

getBotPoseEstimate_wpiRed_MegaTag2()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiRed_MegaTag2 ( const std::string & limelightName = "" )

inline

Definition at line 390 of file LimelightHelpers.h.

getCameraPose_RobotSpace()

std::vector< double > LimelightHelpers::getCameraPose_RobotSpace ( const std::string & limelightName = "" )

inline

Definition at line 161 of file LimelightHelpers.h.

getCameraPose_TargetSpace()

std::vector< double > LimelightHelpers::getCameraPose_TargetSpace ( const std::string & limelightName = "" )

inline

Definition at line 156 of file LimelightHelpers.h.

getCurrentCorners()

std::optional< std::vector< double > > LimelightHelpers::getCurrentCorners ( const std::string & limelightName = "" )

inline

Definition at line 729 of file LimelightHelpers.h.

getFiducialID()

double LimelightHelpers::getFiducialID ( const std::string & limelightName = "" )

inline

Definition at line 180 of file LimelightHelpers.h.

getJSONDump()

std::string LimelightHelpers::getJSONDump ( const std::string & limelightName = "" )

inline

Definition at line 132 of file LimelightHelpers.h.

getLatency_Capture()

double LimelightHelpers::getLatency_Capture ( const std::string & limelightName = "" )

inline

Definition at line 128 of file LimelightHelpers.h.

getLatency_Pipeline()

double LimelightHelpers::getLatency_Pipeline ( const std::string & limelightName = "" )

inline

Definition at line 124 of file LimelightHelpers.h.

getLatestResults()

LimelightResultsClass LimelightHelpers::getLatestResults ( const std::string & limelightName = "", bool profile = false )

inline

Definition at line 701 of file LimelightHelpers.h.

getLimelightNTDouble()

double LimelightHelpers::getLimelightNTDouble ( const std::string & tableName, const std::string & entryName )

inline

Definition at line 80 of file LimelightHelpers.h.

getLimelightNTDoubleArray()

std::vector< double > LimelightHelpers::getLimelightNTDoubleArray ( const std::string & tableName, const std::string & entryName )

inline

Definition at line 86 of file LimelightHelpers.h.

getLimelightNTString()

std::string LimelightHelpers::getLimelightNTString ( const std::string & tableName, const std::string & entryName )

inline

Definition at line 92 of file LimelightHelpers.h.

getLimelightNTTable()

std::shared_ptr< nt::NetworkTable > LimelightHelpers::getLimelightNTTable ( const std::string & tableName )

inline

Definition at line 69 of file LimelightHelpers.h.

getLimelightNTTableEntry()

nt::NetworkTableEntry LimelightHelpers::getLimelightNTTableEntry ( const std::string & tableName, const std::string & entryName )

inline

Definition at line 75 of file LimelightHelpers.h.

getNeuralClassID()

std::string LimelightHelpers::getNeuralClassID ( const std::string & limelightName = "" )

inline

Definition at line 184 of file LimelightHelpers.h.

getPythonScriptData()

std::vector< double > LimelightHelpers::getPythonScriptData ( const std::string & limelightName = "" )

inline

Definition at line 277 of file LimelightHelpers.h.

getTA()

double LimelightHelpers::getTA ( const std::string & limelightName = "" )

inline

Definition at line 120 of file LimelightHelpers.h.

getTargetColor()

std::vector< double > LimelightHelpers::getTargetColor ( const std::string & limelightName = "" )

inline

Definition at line 176 of file LimelightHelpers.h.

getTargetPose_CameraSpace()

std::vector< double > LimelightHelpers::getTargetPose_CameraSpace ( const std::string & limelightName = "" )

inline

Definition at line 166 of file LimelightHelpers.h.

getTargetPose_RobotSpace()

std::vector< double > LimelightHelpers::getTargetPose_RobotSpace ( const std::string & limelightName = "" )

inline

Definition at line 171 of file LimelightHelpers.h.

getTV()

double LimelightHelpers::getTV ( const std::string & limelightName = "" )

inline

Definition at line 112 of file LimelightHelpers.h.

getTX()

double LimelightHelpers::getTX ( const std::string & limelightName = "" )

inline

Definition at line 108 of file LimelightHelpers.h.

getTY()

double LimelightHelpers::getTY ( const std::string & limelightName = "" )

inline

Definition at line 116 of file LimelightHelpers.h.

SafeJSONAccess()

template<typename T, typename KeyType>

T LimelightHelpers::SafeJSONAccess	(	const wpi::json &	jsonData,
		const KeyType &	key,
		const T &	defaultValue )

Definition at line 559 of file LimelightHelpers.h.

sanitizeName()

std::string LimelightHelpers::sanitizeName ( const std::string & name )

inline

Definition at line 38 of file LimelightHelpers.h.

setCameraPose_RobotSpace()

void LimelightHelpers::setCameraPose_RobotSpace ( const std::string & limelightName, double forward, double side, double up, double roll, double pitch, double yaw )

inline

Sets the camera pose in robotspace. The UI camera pose must be set to zeros

Definition at line 261 of file LimelightHelpers.h.

setCropWindow()

void LimelightHelpers::setCropWindow ( const std::string & limelightName, double cropXMin, double cropXMax, double cropYMin, double cropYMax )

inline

Sets the crop window. The crop window in the UI must be completely open for dynamic cropping to work.

Definition at line 231 of file LimelightHelpers.h.

SetFiducialIDFiltersOverride()

void LimelightHelpers::SetFiducialIDFiltersOverride ( const std::string & limelightName, const std::vector< int > & validIDs )

inline

Definition at line 248 of file LimelightHelpers.h.

setLEDMode_ForceBlink()

void LimelightHelpers::setLEDMode_ForceBlink ( const std::string & limelightName = "" )

inline

Definition at line 207 of file LimelightHelpers.h.

setLEDMode_ForceOff()

void LimelightHelpers::setLEDMode_ForceOff ( const std::string & limelightName = "" )

inline

Definition at line 203 of file LimelightHelpers.h.

setLEDMode_ForceOn()

void LimelightHelpers::setLEDMode_ForceOn ( const std::string & limelightName = "" )

inline

Definition at line 211 of file LimelightHelpers.h.

setLEDMode_PipelineControl()

void LimelightHelpers::setLEDMode_PipelineControl ( const std::string & limelightName = "" )

inline

Definition at line 199 of file LimelightHelpers.h.

setLimelightNTDouble()

void LimelightHelpers::setLimelightNTDouble ( const std::string & tableName, const std::string entryName, double val )

inline

Definition at line 97 of file LimelightHelpers.h.

setLimelightNTDoubleArray()

void LimelightHelpers::setLimelightNTDoubleArray ( const std::string & tableName, const std::string & entryName, const std::span< const double > & vals )

inline

Definition at line 102 of file LimelightHelpers.h.

setPipelineIndex()

void LimelightHelpers::setPipelineIndex ( const std::string & limelightName, int index )

inline

Definition at line 191 of file LimelightHelpers.h.

setPriorityTagID()

void LimelightHelpers::setPriorityTagID ( const std::string & limelightName, int ID )

inline

Definition at line 195 of file LimelightHelpers.h.

setPythonScriptData()

void LimelightHelpers::setPythonScriptData ( const std::string & limelightName, const std::vector< double > & outgoingPythonData )

inline

Definition at line 269 of file LimelightHelpers.h.

SetRobotOrientation()

void LimelightHelpers::SetRobotOrientation ( const std::string & limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate )

inline

Sets the robot orientation for mt2.

Definition at line 240 of file LimelightHelpers.h.

setStreamMode_PiPMain()

void LimelightHelpers::setStreamMode_PiPMain ( const std::string & limelightName = "" )

inline

Definition at line 219 of file LimelightHelpers.h.

setStreamMode_PiPSecondary()

void LimelightHelpers::setStreamMode_PiPSecondary ( const std::string & limelightName = "" )

inline

Definition at line 223 of file LimelightHelpers.h.

setStreamMode_Standard()

void LimelightHelpers::setStreamMode_Standard ( const std::string & limelightName = "" )

inline

Definition at line 215 of file LimelightHelpers.h.

SetupPortForwarding()

void LimelightHelpers::SetupPortForwarding ( const std::string & limelightName )

inline

Definition at line 544 of file LimelightHelpers.h.

toPose2D()

frc::Pose2d LimelightHelpers::toPose2D ( const std::vector< double > & inData )

inline

Definition at line 58 of file LimelightHelpers.h.

toPose3D()

frc::Pose3d LimelightHelpers::toPose3D ( const std::vector< double > & inData )

inline

Definition at line 45 of file LimelightHelpers.h.

Variable Documentation

INVALID_TARGET

const double LimelightHelpers::INVALID_TARGET = 0.0

inline

Definition at line 394 of file LimelightHelpers.h.