BunyipsLib/org.murraybridgebunyips.bunyipslib.vision/AprilTagPoseEstimator

AprilTagPoseEstimator

open class AprilTagPoseEstimator : Runnable

Combines an AprilTag processor and RoadRunner drive to supply updates in pose estimation.

Author

Lucas Bubner, 2024

Since

3.2.0

Constructors

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constructor(processor: AprilTag, drive: RoadRunnerDrive)
Constructor for AprilTagPoseEstimator.

Functions

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open fun run()
Propagate interpretation of AprilTag processor and set the pose estimate to the tag, if available by the SDK.
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open fun setActive(setPoseAutomatically: Boolean): AprilTagPoseEstimator
Whether to set the drive pose to the vision estimate.
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open fun setCameraOffset(poseInchRad: Pose2d): AprilTagPoseEstimator
open fun setCameraOffset(forwardFromCenter: Measure<Distance>, leftFromCenter: Measure<Distance>, rotationOnRobot: Measure<Angle>): AprilTagPoseEstimator
Set a robot-relative offset of the webcam from the center of your robot, facing towards your defined robot's forward.
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open fun setHeadingEstimate(setHeadingAutomatically: Boolean): AprilTagPoseEstimator
Whether to set the drive pose to the vision estimate with heading information.
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open fun setKalmanGains(R: Double, Q: Double): AprilTagPoseEstimator
Set the gains used in the Kalman filter for the x, y, and r components.