Package frc.robot.services.vision

Class VisionIOSim

java.lang.Object

frc.robot.services.vision.VisionIOSim

All Implemented Interfaces:

VisionIO

public class VisionIOSim
extends Object
implements VisionIO

Simulation implementation of VisionIO.

This class simulates camera detection of AprilTags based on the robot's current pose and the configured camera FOV and range limits. It calculates dummy pose estimates and standard deviations for simulation testing, utilizing zero-allocation arrays to maintain performance.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.services.vision.VisionIO

VisionIO.VisionIOInputs

Constructor Summary

Constructors

Constructor	Description
VisionIOSim(Supplier<Pose2d> poseSupplier)	Creates a new VisionIOSim.

Method Summary

Modifier and Type	Method	Description
void	updateInputs(VisionIO.VisionIOInputs inputs)	Updates inputs by simulating camera detections based on robot pose.

Methods inherited from class java.lang.Object

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

Methods inherited from interface frc.robot.services.vision.VisionIO

broadcastTelemetry

Constructor Details

VisionIOSim

public VisionIOSim(Supplier<Pose2d> poseSupplier)

Creates a new VisionIOSim.

Parameters:

poseSupplier - A supplier returning the current simulated robot pose.

Method Details

updateInputs

public void updateInputs(VisionIO.VisionIOInputs inputs)

Updates inputs by simulating camera detections based on robot pose.

Specified by:

updateInputs in interface VisionIO

Parameters:

inputs - The inputs object to update.