valor::AprilTagsSensor Class Reference

Sensor for detecting AprilTags and applying vision measurements. More...

#include <AprilTagsSensor.h>

Inheritance diagram for valor::AprilTagsSensor:

Classes
struct	Config
struct	Orientation
	Orientation data structure for AprilTags. More...
struct	SimState

Public Types
enum class	IMUMode {   EXTERNAL_ONLY = 0 , EXTERNAL_SEED = 1 , INTERNAL_ONLY = 2 , INTERNAL_MT1_ASSIST = 3 ,   INTERNAL_EXTERNAL_ASSIST = 4 }
enum class	Solver { MT1 , MT2 }
Public Types inherited from valor::VisionSensor
enum	PipeLines {   PIPELINE_0 , PIPELINE_1 , PIPELINE_2 , PIPELINE_3 ,   PIPELINE_4 , PIPELINE_5 }
	Enum representing available pipelines for the vision sensor.

Public Member Functions
	AprilTagsSensor (frc::TimedRobot &robot, std::string name, frc::Pose3d _cameraPose, frc::AprilTagField field, std::optional< Config > config=std::nullopt)
	Construct a new AprilTagsSensor object.
int	getTagID ()
	Get the ID of the detected AprilTag.
void	LoggablePeriodic () override
	Initialize the Sendable interface for telemetry.
void	applyVisionMeasurement (frc::SwerveDrivePoseEstimator< 4 > *estimator)
	Apply vision measurements to a pose estimator.
frc::Pose3d	getPoseFromAprilTag ()
	Get the pose of the detected AprilTag.
frc::Pose3d	getMegaTagPose2 (Orientation orient)
	Get the pose of a MegaTag using orientation data.
frc::Pose3d	getTargetToBotPose ()
	Get the pose of the target relative to the robot.
frc::Pose3d	get_botpose_targetspace ()
	Get the robot's pose in the target's coordinate space.
void	setupSim (std::function< frc::Pose2d()> robotPoseGetter, std::unordered_set< int > tagIDs, units::degree_t horizontalFOV, units::degree_t verticalFOV, units::meter_t maxDistance=units::meter_t{std::numeric_limits< double >::infinity()}, units::degree_t viewableAngle=70_deg)
void	setIMUMode (IMUMode)
void	setSolver (Solver)
constexpr Solver	getSolver () const
void	setIMUDoubt (double doubt)
void	setOrientation (Orientation orientation)
constexpr Config	getConfig () const
constexpr void	setConfig (Config c)
Public Member Functions inherited from valor::VisionSensor
	VisionSensor (frc::TimedRobot &robot, std::string name, frc::Pose3d _cameraPose)
	Construct a new VisionSensor object.
void	reset () override
	Reset the vision sensor state.
void	setCameraPose (frc::Pose3d camPose)
	Set the camera's pose in 3D space.
void	setPipe (PipeLines _pipe)
	Set the active pipeline for the vision sensor.
bool	hasTarget ()
	Check if the vision sensor has a valid target.
void	setThrottle (int skippedFrames)
void	captureVideo (units::second_t captureTime)
	Capture video data on the Limelight using Rewind.
units::velocity::meters_per_second_t	getError (int pipe, double kPLimeLight=0.7)
	Calculate the error for a specific pipeline.
Public Member Functions inherited from valor::BaseSensor< frc::Pose3d >
void	setGetter (std::function< frc::Pose3d()> _lambda)
	Set the lambda function to fetch sensor data.
void	applyPostProcessing (std::function< frc::Pose3d(frc::Pose3d)> func)
	Set a post-processing function for sensor data.
frc::Pose3d	get ()
	Get the current sensor state.
Public Member Functions inherited from valor::Loggable
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	setLoggingPeriod (units::millisecond_t period)
	Set the minimum period between LoggablePeriodic() invocations.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Protected Member Functions
void	setGetter (std::function< frc::Pose3d()> getter)
Protected Member Functions inherited from valor::VisionSensor
units::millisecond_t	getTotalLatency ()
	Get the total latency of the vision sensor.
void	calculate () override
	Perform vision sensor-specific calculations.
Protected Member Functions inherited from valor::BaseSensor< frc::Pose3d >
	BaseSensor (frc::TimedRobot &robot)
	Construct a new BaseSensor object.
virtual void	refresh ()
	Refresh the sensor state.
Protected Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable ()
	Default construct an uninitialized Loggable.
virtual	~Loggable ()=default
	Virtual destructor.
virtual void	OnLoggingStart ()
	Hook invoked when logging is started for this object.
template<typename T >
T	WriteLog (std::string_view field, const T &data)
	Publish a value to NetworkTables under the given field.
template<typename T >
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.

Protected Attributes
std::unique_ptr< SimState >	simState
Protected Attributes inherited from valor::VisionSensor
double	tx
double	ty
double	tv
double	fps
double	ramUsage
double	ta
	Vision sensor telemetry data.
int	pipe
	Active pipeline index.
units::celsius_t	cpuTemp
units::celsius_t	temp
	Temperature readings.
frc::Pose3d	cameraPose
	Physical 3D position of the camera's lens.
std::shared_ptr< nt::NetworkTable >	limeTable
	NetworkTable for vision data.
Protected Attributes inherited from valor::BaseSensor< frc::Pose3d >
std::function< frc::Pose3d()>	sensorLambda
	Lambda function to fetch sensor data.
std::function< frc::Pose3d(frc::Pose3d)>	postProcessor
	Lambda function to post-process sensor data.
frc::Pose3d	prevState
	Previous and current sensor states.
frc::Pose3d	currState
frc::Timer	profiler

Additional Inherited Members
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()

Detailed Description

Sensor for detecting AprilTags and applying vision measurements.

This class extends VisionSensor and provides functionality for detecting AprilTags, retrieving their poses, and applying vision measurements to a pose estimator.

Constructor & Destructor Documentation

AprilTagsSensor()

valor::AprilTagsSensor::AprilTagsSensor	(	frc::TimedRobot &	robot,
		std::string	name,
		frc::Pose3d	_cameraPose,
		frc::AprilTagField	field,
		std::optional< Config >	config = std::nullopt )

Construct a new AprilTagsSensor object.

Parameters

robot	Reference to the robot, used to schedule the calculate method.
name	Name of the sensor for identification.
_cameraPose	Physical 3D position of the camera's lens.

Member Function Documentation

applyVisionMeasurement()

void valor::AprilTagsSensor::applyVisionMeasurement

(

frc::SwerveDrivePoseEstimator< 4 > *

estimator

)

Apply vision measurements to a pose estimator.

Runs the full filtering pipeline (null/no-target guard, tag count check, stale measurement rejection, field border rejection, MT1 ambiguity rejection) and computes power-law std devs before calling AddVisionMeasurement on the estimator.

Parameters

estimator

Pointer to the SwerveDrivePoseEstimator.

get_botpose_targetspace()

frc::Pose3d valor::AprilTagsSensor::get_botpose_targetspace

(

)

Get the robot's pose in the target's coordinate space.

Returns

frc::Pose3d Robot's pose in target space.

getMegaTagPose2()

frc::Pose3d valor::AprilTagsSensor::getMegaTagPose2

(

Orientation

orient

)

Get the pose of a MegaTag using orientation data.

Parameters

orient

Orientation data of the MegaTag.

Returns

frc::Pose3d Pose of the MegaTag.

getPoseFromAprilTag()

frc::Pose3d valor::AprilTagsSensor::getPoseFromAprilTag

(

)

Get the pose of the detected AprilTag.

Returns

frc::Pose3d Pose of the detected AprilTag.

getTagID()

int valor::AprilTagsSensor::getTagID

(

)

Get the ID of the detected AprilTag.

Returns

int ID of the detected tag.

getTargetToBotPose()

frc::Pose3d valor::AprilTagsSensor::getTargetToBotPose

(

)

Get the pose of the target relative to the robot.

Returns

frc::Pose3d Target-to-robot pose.

LoggablePeriodic()

void valor::AprilTagsSensor::LoggablePeriodic ( )

overridevirtual

Initialize the Sendable interface for telemetry.

Parameters

builder

Reference to the SendableBuilder.

Reimplemented from valor::Loggable.

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The documentation for this class was generated from the following file:

• src/main/include/valkyrie/sensors/AprilTagsSensor.h