valor::GamePieceSensor Class Reference

Inheritance diagram for valor::GamePieceSensor:

Public Member Functions
	GamePieceSensor (frc::TimedRobot &robot, const char *name, frc::Pose3d cameraPose, frc::SwerveDrivePoseEstimator< 4 > *estimator)
frc::Pose3d	getGlobalPose ()
	Get the global pose of the vision sensor.
double	GetRotationCmdDeg ()
bool	detectedTarget ()
double	getTa ()
void	updateRelativeToCenter ()
void	LoggablePeriodic () override
	Periodic callback for logging updates.
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)

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

Member Function Documentation

getGlobalPose()

frc::Pose3d valor::GamePieceSensor::getGlobalPose ( )

virtual

Get the global pose of the vision sensor.

This method must be implemented in derived classes to calculate the global pose based on the sensor's data.

Returns

The global pose as a 3D transformation.

Implements valor::VisionSensor.

LoggablePeriodic()

void valor::GamePieceSensor::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

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

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