Package limelight.networktables

Class PoseEstimate

java.lang.Object
limelight.networktables.PoseEstimate
public class PoseEstimate extends Object
Represents a 3D Pose Estimate.

  • Field Details

    • isMegaTag2

      public final boolean isMegaTag2
      Is a MegaTag2 reading

    • pose

      public Pose3d pose
      Bot pose estimate

    • timestampSeconds

      public double timestampSeconds
      NT Timestamp in seconds

    • latency

      public double latency
      Total latency in seconds

    • tagCount

      public int tagCount
      AprilTag in view count

    • tagSpan

      public double tagSpan
      Tag Span in meters

    • avgTagDist

      public double avgTagDist
      Avg apriltag distance in Meters

    • avgTagArea

      public double avgTagArea
      Avg area in percent of image

    • rawFiducials

      public RawFiducial[] rawFiducials
      AprilTags

    • hasData

      public boolean hasData
      Does the pose limelight.estimator contain data?

  • Constructor Details

    • PoseEstimate

      public PoseEstimate(Limelight camera, String entryName, boolean megaTag2)
      Construct the PoseEstimate from the limelight entry in NT.
      Parameters:
      camera - Limelight to fetch the data from.
      entryName - Pose estimation entry we are interested in.
      megaTag2 - Is the data MegaTag2

  • Method Details

    • refresh

      public PoseEstimate refresh()
      Refresh the PoseEstimate
      Returns:
      PoseEstimate

    • getPoseEstimate

      public Optional<PoseEstimate> getPoseEstimate()
      Refresh PoseEstimate object
      Returns:
      PoseEstimate for chaining.

    • getMinTagAmbiguity

      public double getMinTagAmbiguity()
      Get the minimum ambiguity from seen AprilTag's
      Returns:
      Min ambiguity from observed tags.

    • getMaxTagAmbiguity

      public double getMaxTagAmbiguity()
      Get the maximum ambiguity from seen AprilTag's
      Returns:
      Max ambiguity from observed tags. Returns 1 if none.

    • getAvgTagAmbiguity

      public double getAvgTagAmbiguity()
      Get the average ambiguity from seen AprilTag's
      Returns:
      Avg ambiguity from observed tags. Returns 1 if no tags.

    • toString

      public String toString()
      Prints detailed information about a PoseEstimate to standard output. Includes timestamp, latency, tag count, tag span, average tag distance, average tag area, and detailed information about each detected fiducial.
      Overrides:
      toString in class Object