Class VisionIOPhotonSim

java.lang.Object

com.stuypulse.robot.subsystems.vision.VisionIOPhoton

com.stuypulse.robot.subsystems.vision.VisionIOPhotonSim

All Implemented Interfaces:

VisionIO

public class VisionIOPhotonSim
extends VisionIOPhoton

IO implementation for physics sim using PhotonVision simulator.

Nested Class Summary

Nested classes/interfaces inherited from interface VisionIO

VisionIO.MegaTagMode, VisionIO.PoseObservation, VisionIO.PoseObservationType, VisionIO.TargetObservation, VisionIO.VisionIOInputs, VisionIO.VisionIOOutputs

Field Summary

Fields

Modifier and Type	Field	Description
private final org.photonvision.simulation.PhotonCameraSim	cameraSim
private final Supplier<org.wpilib.math.geometry.Pose2d>	poseSupplier
private static org.photonvision.simulation.VisionSystemSim	visionSim

Fields inherited from class VisionIOPhoton

camera, robotToCamera

Constructor Summary

Constructors

Constructor	Description
VisionIOPhotonSim(String name, org.wpilib.math.geometry.Transform3d robotToCamera, Supplier<org.wpilib.math.geometry.Pose2d> poseSupplier)	Creates a new VisionIOPhotonVisionSim.

Method Summary

Modifier and Type	Method	Description
void	updateInputs(VisionIO.VisionIOInputs inputs)

Methods inherited from class VisionIOPhoton

applyOutputs

Methods inherited from class Object

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

Field Details

visionSim

private static org.photonvision.simulation.VisionSystemSim visionSim

poseSupplier

private final Supplier<org.wpilib.math.geometry.Pose2d> poseSupplier

cameraSim

private final org.photonvision.simulation.PhotonCameraSim cameraSim

Constructor Details

VisionIOPhotonSim

public VisionIOPhotonSim(String name,
 org.wpilib.math.geometry.Transform3d robotToCamera,
 Supplier<org.wpilib.math.geometry.Pose2d> poseSupplier)

Creates a new VisionIOPhotonVisionSim.

Parameters:

name - The name of the camera.

robotToCamera - The 3D position of the camera relative to the robot.

poseSupplier - Supplier for the robot pose to use in simulation.

Method Details

updateInputs

public void updateInputs(VisionIO.VisionIOInputs inputs)

Specified by:

updateInputs in interface VisionIO

Overrides:

updateInputs in class VisionIOPhoton