Package com.stuypulse.robot.util.vision

Class LimelightHelpers.LimelightResults

java.lang.Object

com.stuypulse.robot.util.vision.LimelightHelpers.LimelightResults

Enclosing class:

LimelightHelpers

public static class LimelightHelpers.LimelightResults
extends Object

Limelight Results object, parsed from a Limelight's JSON results output.

Field Summary

Fields

Modifier and Type	Field	Description
double[]	botpose
double	botpose_avgarea
double	botpose_avgdist
double[]	botpose_orb
double[]	botpose_orb_wpiblue
double[]	botpose_orb_wpired
double	botpose_span
double	botpose_tagcount
double[]	botpose_wpiblue
double[]	botpose_wpired
double[]	camerapose_robotspace
String	error
LimelightHelpers.HardwareReport	hardware
LimelightHelpers.IMUResults	imuResults
double	latency_capture
double	latency_jsonParse
double	latency_pipeline
double	pipelineID
String	pipelineType
double[]	pythonOutput
LimelightHelpers.RewindStats	rewindStats
double	ta
LimelightHelpers.LimelightTarget_Barcode[]	targets_Barcode
LimelightHelpers.LimelightTarget_Classifier[]	targets_Classifier
LimelightHelpers.LimelightTarget_Detector[]	targets_Detector
LimelightHelpers.LimelightTarget_Fiducial[]	targets_Fiducials
LimelightHelpers.LimelightTarget_Retro[]	targets_Retro
double	timestamp_LIMELIGHT_publish
long	timestamp_nt
double	timestamp_RIOFPGA_capture
long	timestamp_sys
long	timestamp_us
double	tx
double	tx_nocrosshair
double	ty
double	ty_nocrosshair
boolean	valid

Constructor Summary

Constructors

Constructor	Description
LimelightResults()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.geometry.Pose2d	getBotPose2d()
edu.wpi.first.math.geometry.Pose2d	getBotPose2d_wpiBlue()
edu.wpi.first.math.geometry.Pose2d	getBotPose2d_wpiRed()
edu.wpi.first.math.geometry.Pose3d	getBotPose3d()
edu.wpi.first.math.geometry.Pose3d	getBotPose3d_wpiBlue()
edu.wpi.first.math.geometry.Pose3d	getBotPose3d_wpiRed()

Methods inherited from class java.lang.Object

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

Field Details

error

public String error

pipelineID

public double pipelineID

latency_pipeline

public double latency_pipeline

latency_capture

public double latency_capture

latency_jsonParse

public double latency_jsonParse

timestamp_LIMELIGHT_publish

public double timestamp_LIMELIGHT_publish

timestamp_RIOFPGA_capture

public double timestamp_RIOFPGA_capture

timestamp_nt

public long timestamp_nt

timestamp_sys

public long timestamp_sys

timestamp_us

public long timestamp_us

valid

public boolean valid

pipelineType

public String pipelineType

tx

public double tx

ty

public double ty

tx_nocrosshair

public double tx_nocrosshair

ty_nocrosshair

public double ty_nocrosshair

ta

public double ta

botpose

public double[] botpose

botpose_wpired

public double[] botpose_wpired

botpose_wpiblue

public double[] botpose_wpiblue

botpose_tagcount

public double botpose_tagcount

botpose_span

public double botpose_span

botpose_avgdist

public double botpose_avgdist

botpose_avgarea

public double botpose_avgarea

botpose_orb

public double[] botpose_orb

botpose_orb_wpiblue

public double[] botpose_orb_wpiblue

botpose_orb_wpired

public double[] botpose_orb_wpired

camerapose_robotspace

public double[] camerapose_robotspace

hardware

public LimelightHelpers.HardwareReport hardware

imuResults

public LimelightHelpers.IMUResults imuResults

rewindStats

public LimelightHelpers.RewindStats rewindStats

pythonOutput

public double[] pythonOutput

targets_Retro

public LimelightHelpers.LimelightTarget_Retro[] targets_Retro

targets_Fiducials

public LimelightHelpers.LimelightTarget_Fiducial[] targets_Fiducials

targets_Classifier

public LimelightHelpers.LimelightTarget_Classifier[] targets_Classifier

targets_Detector

public LimelightHelpers.LimelightTarget_Detector[] targets_Detector

targets_Barcode

public LimelightHelpers.LimelightTarget_Barcode[] targets_Barcode

Constructor Details

LimelightResults

public LimelightResults()

Method Details

getBotPose3d

public edu.wpi.first.math.geometry.Pose3d getBotPose3d()

getBotPose3d_wpiRed

public edu.wpi.first.math.geometry.Pose3d getBotPose3d_wpiRed()

getBotPose3d_wpiBlue

public edu.wpi.first.math.geometry.Pose3d getBotPose3d_wpiBlue()

getBotPose2d

public edu.wpi.first.math.geometry.Pose2d getBotPose2d()

getBotPose2d_wpiRed

public edu.wpi.first.math.geometry.Pose2d getBotPose2d_wpiRed()

getBotPose2d_wpiBlue

public edu.wpi.first.math.geometry.Pose2d getBotPose2d_wpiBlue()