Package frc.lib5k.components.limelight

Class LimelightTarget

  • public class LimelightTarget
extends java.lang.Object
    A class for storing data about a Limelight vision target

    • Constructor Summary

      Constructors 
      Constructor Description
      LimelightTarget​(double tx, double ty, double ta, double ts, double tshort, double tlong, java.lang.String camtran)
      Create a LimelightTarget

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      double getArea()
      Target Area
      double getLongestSide()
      Sidelength of longest side of the fitted bounding box
      double getShortestSide()
      Sidelength of shortest side of the fitted bounding box
      double getSkew()
      Skew or rotation
      java.lang.String getTranslationOrNull()
      Results of a 3D position solution
      double getX()
      Horizontal Offset From Crosshair To Target
      double getY()
      Vertical Offset From Crosshair To Target

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • LimelightTarget

        public LimelightTarget​(double tx,
                       double ty,
                       double ta,
                       double ts,
                       double tshort,
                       double tlong,
                       java.lang.String camtran)
        Create a LimelightTarget
        Parameters:
        tx - Target X
        ty - Target Y
        ta - Target Area
        ts - Target skew
        tshort - Shortest side
        tlong - Longest side
        camtran - 3D Positioning data

    • Method Detail

      • getX

        public double getX()
        Horizontal Offset From Crosshair To Target
        Returns:
        -27 degrees to 27 degrees

      • getY

        public double getY()
        Vertical Offset From Crosshair To Target
        Returns:
        -20.5 degrees to 20.5 degrees

      • getArea

        public double getArea()
        Target Area
        Returns:
        0% of image to 100% of image

      • getSkew

        public double getSkew()
        Skew or rotation
        Returns:
        -90 degrees to 0 degrees

      • getShortestSide

        public double getShortestSide()
        Sidelength of shortest side of the fitted bounding box
        Returns:
        pixels

      • getLongestSide

        public double getLongestSide()
        Sidelength of longest side of the fitted bounding box
        Returns:
        pixels

      • getTranslationOrNull

        public java.lang.String getTranslationOrNull()
        Results of a 3D position solution
        Returns:
        6 numbers: Translation (x,y,y) Rotation(pitch,yaw,roll)