LimelightTarget Class Reference

#include <vision_subsystem.h>

Classes
struct	tValues
	Wraps members of LimelightTarget for use elsewhere. More...

Public Member Functions
	LimelightTarget ()
tValues	GetTarget (bool filter, std::string cameraName)
	Get the values of the camera's current target.
bool	HasTarget ()
	Does the camera see a target?
void	ResetFilters (std::string cameraName)
void	ResetOnNextTarget ()

Private Attributes
frc::Pose3d	m_robotPose
	3d pose of robot relative to field center
frc::Pose3d	m_robotPoseWPI
	3d pose of robot relative to WPI reference for active alliance
frc::Pose3d	m_targetPoseCamSpace
	3d pose of Target relative to camera (Z - Forward, X - right, Y - down)
frc::Pose3d	m_targetPoseRobotSpace
	3d pose of Target relative to camera (Z - Up, Y - left, X - Forward)
bool	m_hasTargets
	True if the camera has a target it can read.
units::degree_t	m_pitch
	Pitch of target relative to camera -24.85 to 24.85 degrees.
units::degree_t	m_yaw
	Yaw of target relative to camera -31.65 to 31.65 degrees.
double	m_area
	Area of the target in percentage of total pixels.
units::millisecond_t	m_totalLatency
	Total latency.
frc::LinearFilter< units::degree_t >	m_txFilter
frc::LinearFilter< units::degree_t >	m_tyFilter
frc::LinearFilter< units::meter_t >	m_zFilter
bool	m_resetFilterFlag
double	m_tid
	Tag ID.
int	m_hb
	heartbeat

Constructor & Destructor Documentation

LimelightTarget()

LimelightTarget::LimelightTarget ( )

inline

Member Function Documentation

GetTarget()

LimelightTarget::tValues LimelightTarget::GetTarget	(	bool	filter,
		std::string	cameraName )

Get the values of the camera's current target.

Returns

tValues

HasTarget()

bool LimelightTarget::HasTarget

(

)

Does the camera see a target?

Returns

true - The camera does see a target

false - The camera does not see a target

ResetFilters()

void LimelightTarget::ResetFilters

(

std::string

cameraName

)

Todo

name the filter values

ResetOnNextTarget()

void LimelightTarget::ResetOnNextTarget

(

)

Member Data Documentation

m_area

double LimelightTarget::m_area

private

Area of the target in percentage of total pixels.

m_hasTargets

bool LimelightTarget::m_hasTargets

private

True if the camera has a target it can read.

m_hb

int LimelightTarget::m_hb

private

heartbeat

m_pitch

units::degree_t LimelightTarget::m_pitch

private

Pitch of target relative to camera -24.85 to 24.85 degrees.

m_resetFilterFlag

bool LimelightTarget::m_resetFilterFlag

private

m_robotPose

frc::Pose3d LimelightTarget::m_robotPose

private

3d pose of robot relative to field center

m_robotPoseWPI

frc::Pose3d LimelightTarget::m_robotPoseWPI

private

3d pose of robot relative to WPI reference for active alliance

m_targetPoseCamSpace

frc::Pose3d LimelightTarget::m_targetPoseCamSpace

private

3d pose of Target relative to camera (Z - Forward, X - right, Y - down)

m_targetPoseRobotSpace

frc::Pose3d LimelightTarget::m_targetPoseRobotSpace

private

3d pose of Target relative to camera (Z - Up, Y - left, X - Forward)

m_tid

double LimelightTarget::m_tid

private

Tag ID.

m_totalLatency

units::millisecond_t LimelightTarget::m_totalLatency

private

Total latency.

m_txFilter

frc::LinearFilter<units::degree_t> LimelightTarget::m_txFilter

private

m_tyFilter

frc::LinearFilter<units::degree_t> LimelightTarget::m_tyFilter

private

m_yaw

units::degree_t LimelightTarget::m_yaw

private

Yaw of target relative to camera -31.65 to 31.65 degrees.

m_zFilter

frc::LinearFilter<units::meter_t> LimelightTarget::m_zFilter

private

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The documentation for this class was generated from the following files:

• src/main/include/subsystems/vision_subsystem.h
• src/main/cpp/subsystems/vision_subsytem.cpp