Package limelight.networktables

Class LimelightPoseEstimator

java.lang.Object

limelight.networktables.LimelightPoseEstimator

public class LimelightPoseEstimator
extends Object

Pose estimator for Limelight.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	LimelightPoseEstimator.BotPose	BotPose enum for easier decoding.
static enum	LimelightPoseEstimator.EstimationMode	Represents the pose estimation mode used by the Limelight camera.

Constructor Summary

Constructors

Constructor	Description
LimelightPoseEstimator(Limelight camera, LimelightPoseEstimator.EstimationMode estimationMode)	Construct LimelightPoseEstimator which fetches data from NetworkTables

Method Summary

Modifier and Type	Method	Description
Optional<PoseEstimate>	getAlliancePoseEstimate()	Get the PoseEstimate corresponding with your alliance color.
Pose3d	getBotPose()	Deprecated.
Optional<PoseEstimate>	getPoseEstimate()	Get the global pose estimate based off WPILib coordinates, blue-origin

Methods inherited from class java.lang.Object

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

Constructor Details

LimelightPoseEstimator

public LimelightPoseEstimator(Limelight camera,
 LimelightPoseEstimator.EstimationMode estimationMode)

Construct LimelightPoseEstimator which fetches data from NetworkTables

Parameters:

camera - Limelight to use.

estimationMode - Estimation mode to use (MEGATAG1 / MEGATAG2).

Method Details

getBotPose

@Deprecated
public Pose3d getBotPose()

Deprecated.

Get the MegaTag1 bot pose.

Returns:

Pose3d of the MegaTag1 pose estimate for the bot pose.

getAlliancePoseEstimate

public Optional<PoseEstimate> getAlliancePoseEstimate()

Get the PoseEstimate corresponding with your alliance color.

Alliance comes from DriverStation. If simulation, then the sim GUI must not be in "disconnected" mode.

Returns:

Optional of PoseEstimate of your given alliance.

getPoseEstimate

public Optional<PoseEstimate> getPoseEstimate()

Get the global pose estimate based off WPILib coordinates, blue-origin

Returns:

Optional of PoseEstimate for blue-origin based poses.