Package io.github.frc5024.lib5k.vision.types

Class HyperbolicAxisAlignedBoundingBox

java.lang.Object

edu.wpi.first.wpilibj.geometry.Translation2d

io.github.frc5024.lib5k.vision.types.Contour

io.github.frc5024.lib5k.vision.types.AxisAlignedBoundingBox

io.github.frc5024.lib5k.vision.types.HyperbolicAxisAlignedBoundingBox

public class HyperbolicAxisAlignedBoundingBox
extends AxisAlignedBoundingBox

HyperbolicAxisAlignedBoundingBox is a non-euclidean AxisAlignedBoundingBox in hyperbolic space

Field Summary

Fields inherited from class io.github.frc5024.lib5k.vision.types.Contour

NO_ROTATION

Constructor Summary

Constructors

Constructor	Description
HyperbolicAxisAlignedBoundingBox(Translation2d topLeft, Translation2d bottomRight, Rotation2d hRot, Rotation2d vRot)	Create a HyperbolicAxisAlignedBoundingBox from a horizontal and vertical theta
HyperbolicAxisAlignedBoundingBox(Translation2d topLeft, Translation2d bottomRight, Rotation2d xRot, Rotation2d yRot, Rotation2d hRot, Rotation2d vRot)	Create a HyperbolicAxisAlignedBoundingBox from a horizontal and vertical theta
HyperbolicAxisAlignedBoundingBox(Translation2d topLeft, Translation2d bottomRight, Rotation2d xRot, Rotation2d yRot, Rotation2d leftRot, Rotation2d rightRot, Rotation2d topRot, Rotation2d bottomRot)	Create a HyperbolicAxisAlignedBoundingBox using rotations for each side

Method Summary

Modifier and Type	Method	Description
Rotation2d	getBottomBoundRotation()	Get the rotation from the center to the bottom bound
Rotation2d	getHorizontalTheta()	Get the theta between the left and right bounds
Rotation2d	getLeftBoundRotation()	Get the rotation from the center to the left bound
Rotation2d	getRightBoundRotation()	Get the rotation from the center to the right bound
Rotation2d	getTopBoundRotation()	Get the rotation from the center to the top bound
Rotation2d	getVerticalTheta()	Get the theta between the top and bottom bounds
boolean	isBalanced()	Get if isHorizontalBalanced and isVerticalBalanced are both true
boolean	isHorizontalBalanced()	Get if the left and right rotations are of equal proportion
boolean	isVerticalBalanced()	Get if the top and bottom rotations are of equal proportion

Methods inherited from class io.github.frc5024.lib5k.vision.types.AxisAlignedBoundingBox

contains, getAspectRatio, getBottomLeftCorner, getBottomRightCorner, getHeight, getTopLeftCorner, getTopRightCorner, getWidth, overlaps, toString

Methods inherited from class io.github.frc5024.lib5k.vision.types.Contour

getXRotation, getYRotation

Methods inherited from class edu.wpi.first.wpilibj.geometry.Translation2d

div, equals, getDistance, getNorm, getX, getY, hashCode, minus, plus, rotateBy, times, unaryMinus

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Detail

HyperbolicAxisAlignedBoundingBox

public HyperbolicAxisAlignedBoundingBox(Translation2d topLeft,
                                        Translation2d bottomRight,
                                        Rotation2d hRot,
                                        Rotation2d vRot)

Create a HyperbolicAxisAlignedBoundingBox from a horizontal and vertical theta

Parameters:

topLeft - Left corner expressed as a percentage of the frame from the center (top left is -1,1)

bottomRight - Bottom right corner expressed as a percentage of the frame from the center (top left is -1,1)

hRot - Positive theta between the left and right bounds

vRot - Positive theta between the top and bottom bounds

HyperbolicAxisAlignedBoundingBox

public HyperbolicAxisAlignedBoundingBox(Translation2d topLeft,
                                        Translation2d bottomRight,
                                        Rotation2d xRot,
                                        Rotation2d yRot,
                                        Rotation2d hRot,
                                        Rotation2d vRot)

Create a HyperbolicAxisAlignedBoundingBox from a horizontal and vertical theta

Parameters:

topLeft - left corner expressed as a percentage of the frame from the center (top left is -1,1)

bottomRight - Bottom right corner expressed as a percentage of the frame from the center (top left is -1,1)

xRot - X angle from camera

yRot - Y angle from camera

hRot - Positive theta between the left and right bounds

vRot - Positive theta between the top and bottom bounds

HyperbolicAxisAlignedBoundingBox

public HyperbolicAxisAlignedBoundingBox(Translation2d topLeft,
                                        Translation2d bottomRight,
                                        Rotation2d xRot,
                                        Rotation2d yRot,
                                        Rotation2d leftRot,
                                        Rotation2d rightRot,
                                        Rotation2d topRot,
                                        Rotation2d bottomRot)

Create a HyperbolicAxisAlignedBoundingBox using rotations for each side

Parameters:

topLeft - Top left corner expressed as a percentage of the frame from the center (top left is -1,1)

bottomRight - Bottom right corner expressed as a percentage of the frame from the center (top left is -1,1)

xRot - X angle from camera

yRot - Y angle from camera

leftRot - Rotation of the left bound from the center point

rightRot - Rotation of the right bound from the center point

topRot - Rotation of the top bound from the center point

bottomRot - Rotation of bottom left bound from the center point

Method Detail

getHorizontalTheta

public Rotation2d getHorizontalTheta()

Get the theta between the left and right bounds

Returns:

Theta between the left and right bounds

getVerticalTheta

public Rotation2d getVerticalTheta()

Get the theta between the top and bottom bounds

Returns:

Theta between the top and bottom bounds

isHorizontalBalanced

public boolean isHorizontalBalanced()

Get if the left and right rotations are of equal proportion

Returns:

Is left and right balanced

isVerticalBalanced

public boolean isVerticalBalanced()

Get if the top and bottom rotations are of equal proportion

Returns:

Is top and bottom balanced

isBalanced

public boolean isBalanced()

Get if isHorizontalBalanced and isVerticalBalanced are both true

Returns:

Is fully balanced

getLeftBoundRotation

public Rotation2d getLeftBoundRotation()

Get the rotation from the center to the left bound

Returns:

Rotation

getRightBoundRotation

public Rotation2d getRightBoundRotation()

Get the rotation from the center to the right bound

Returns:

Rotation

getTopBoundRotation

public Rotation2d getTopBoundRotation()

Get the rotation from the center to the top bound

Returns:

Rotation

getBottomBoundRotation

public Rotation2d getBottomBoundRotation()

Get the rotation from the center to the bottom bound

Returns:

Rotation