Package frc.lib.lowlevel

Class Whacknet.PacketView

java.lang.Object

frc.lib.lowlevel.Whacknet.PacketView

Enclosing class:

Whacknet

public class Whacknet.PacketView
extends Object

Zero-allocation view into the ByteBuffer representing a single Vision Observation.

Constructor Summary

Constructors

Constructor	Description
PacketView()

Method Summary

Modifier and Type	Method	Description
int	getCameraId()
int	getNumTags()
Pose2d	getPose2d()
double	getRot()
double	getStdRot()
double	getStdX()
double	getStdY()
long	getTimestamp()
double	getX()
double	getY()

Methods inherited from class java.lang.Object

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

Constructor Details

PacketView

public PacketView()

Method Details

getX

public double getX()

Returns:

X position in meters.

getY

public double getY()

Returns:

Y position in meters.

getRot

public double getRot()

Returns:

Rotation in radians.

getStdX

public double getStdX()

Returns:

Standard deviation of X position in meters.

getStdY

public double getStdY()

Returns:

Standard deviation of Y position in meters.

getStdRot

public double getStdRot()

Returns:

Standard deviation of rotation in radians.

getTimestamp

public long getTimestamp()

Returns:

Timestamp in microseconds.

getCameraId

public int getCameraId()

Returns:

Camera ID.

getNumTags

public int getNumTags()

Returns:

Number of tags detected.

getPose2d

public Pose2d getPose2d()

Returns:

The pose as a Pose2d object.