Package frc.robot.systems.vision

Class Vision

java.lang.Object

frc.robot.systems.vision.Vision

public class Vision
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	Vision.VisionObservation

Field Summary

Fields

Modifier and Type	Field	Description
static final edu.wpi.first.apriltag.AprilTagFieldLayout	k2025Field

Constructor Summary

Constructors

Constructor	Description
Vision(CameraIO[] cameras)

Method Summary

Modifier and Type	Method	Description
Vision.VisionObservation[]	getVisionObservations()
void	logVisionObservation(Vision.VisionObservation observation, String state)
void	periodic(edu.wpi.first.math.geometry.Pose2d lastRobotPose, edu.wpi.first.math.geometry.Pose2d simOdomPose)

Methods inherited from class java.lang.Object

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

Field Details

k2025Field

public static final edu.wpi.first.apriltag.AprilTagFieldLayout k2025Field

Constructor Details

Vision

public Vision(CameraIO[] cameras)

Method Details

periodic

public void periodic(edu.wpi.first.math.geometry.Pose2d lastRobotPose,
 edu.wpi.first.math.geometry.Pose2d simOdomPose)

getVisionObservations

public Vision.VisionObservation[] getVisionObservations()

logVisionObservation

public void logVisionObservation(Vision.VisionObservation observation,
 String state)