Package limelight.networktables

Enum Class LimelightPoseEstimator.EstimationMode

java.lang.Object

java.lang.Enum<LimelightPoseEstimator.EstimationMode>

limelight.networktables.LimelightPoseEstimator.EstimationMode

All Implemented Interfaces:

Serializable, Comparable<LimelightPoseEstimator.EstimationMode>, Constable

Enclosing class:

LimelightPoseEstimator

public static enum LimelightPoseEstimator.EstimationMode
extends Enum<LimelightPoseEstimator.EstimationMode>

Represents the pose estimation mode used by the Limelight camera.

Each mode corresponds to a different vision pipeline for AprilTag-based localization, with distinct methods for combining visual and robot data.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
MEGATAG1	Uses the original Limelight MegaTag1 pipeline for pose estimation.
MEGATAG2	Uses the Limelight MegaTag2 pipeline for pose estimation.

Method Summary

Modifier and Type	Method	Description
static LimelightPoseEstimator.EstimationMode	valueOf(String name)	Returns the enum constant of this class with the specified name.
static LimelightPoseEstimator.EstimationMode[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

MEGATAG1

public static final LimelightPoseEstimator.EstimationMode MEGATAG1

Uses the original Limelight MegaTag1 pipeline for pose estimation.

MegaTag1 estimates the robot's pose using data from a single detected AprilTag. It relies entirely on visual information from the camera, without using any external robot state data.

MEGATAG2

public static final LimelightPoseEstimator.EstimationMode MEGATAG2

Uses the Limelight MegaTag2 pipeline for pose estimation.

MegaTag2 fuses AprilTag data with the robot's current heading (from a gyro or odometry source) to refine the estimated pose. This results in smoother and more accurate global localization, especially when tags are viewed from oblique angles or at long range.

See Also:

• LimelightSettings.withRobotOrientation(limelight.networktables.Orientation3d)

Method Details

values

public static LimelightPoseEstimator.EstimationMode[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static LimelightPoseEstimator.EstimationMode valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null