2025-Robot
Robot code for 2025 FRC season by Argos, FRC team #1756
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Namespaces | Classes | Functions | Variables
LimelightHelpers Namespace Reference

Namespaces

namespace  internal
 

Classes

class  BarcodeResultClass
 
class  ClassificationResultClass
 
class  DetectionResultClass
 
class  FiducialResultClass
 
class  IMUData
 
class  LimelightResultsClass
 
class  PoseEstimate
 
class  RawFiducial
 
class  RetroreflectiveResultClass
 
class  SingleTargetingResultClass
 
class  VisionResultsClass
 

Functions

std::string sanitizeName (const std::string &name)
 
frc::Pose3d toPose3D (const std::vector< double > &inData)
 
frc::Pose2d toPose2D (const std::vector< double > &inData)
 
std::array< double, 6 > pose3dToArray (const frc::Pose3d &pose)
 
std::array< double, 6 > pose2dToArray (const frc::Pose2d &pose)
 
std::shared_ptr< nt::NetworkTable > getLimelightNTTable (const std::string &tableName)
 
void Flush ()
 
nt::NetworkTableEntry getLimelightNTTableEntry (const std::string &tableName, const std::string &entryName)
 
nt::DoubleArrayEntry & getLimelightDoubleArrayEntry (const std::string &tableName, const std::string &entryName)
 
double getLimelightNTDouble (const std::string &tableName, const std::string &entryName)
 
std::vector< double > getLimelightNTDoubleArray (const std::string &tableName, const std::string &entryName)
 
std::string getLimelightNTString (const std::string &tableName, const std::string &entryName)
 
std::vector< std::string > getLimelightNTStringArray (const std::string &tableName, const std::string &entryName)
 
void setLimelightNTDouble (const std::string &tableName, const std::string entryName, double val)
 
void setLimelightNTDoubleArray (const std::string &tableName, const std::string &entryName, const std::span< const double > &vals)
 
bool getTV (const std::string &limelightName="")
 
double getTX (const std::string &limelightName="")
 
double getTY (const std::string &limelightName="")
 
double getTXNC (const std::string &limelightName)
 
double getTYNC (const std::string &limelightName)
 
double getTA (const std::string &limelightName="")
 
std::vector< double > getT2DArray (const std::string &limelightName)
 
int getTargetCount (const std::string &limelightName)
 
int getClassifierClassIndex (const std::string &limelightName)
 
int getDetectorClassIndex (const std::string &limelightName)
 
const std::string getClassifierClass (const std::string &limelightName)
 
const std::string getDetectorClass (const std::string &limelightName)
 
double getLatency_Pipeline (const std::string &limelightName="")
 
double getLatency_Capture (const std::string &limelightName="")
 
double getCurrentPipelineIndex (const std::string &limelightName)
 
const std::string getCurrentPipelineType (const std::string &limelightName)
 
std::string getJSONDump (const std::string &limelightName="")
 
std::vector< double > getBotpose (const std::string &limelightName="")
 
std::vector< double > getBotpose_wpiRed (const std::string &limelightName="")
 
std::vector< double > getBotpose_wpiBlue (const std::string &limelightName="")
 
std::vector< double > getBotpose_TargetSpace (const std::string &limelightName="")
 
std::vector< double > getCameraPose_TargetSpace (const std::string &limelightName="")
 
std::vector< double > getCameraPose_RobotSpace (const std::string &limelightName="")
 
std::vector< double > getTargetPose_CameraSpace (const std::string &limelightName="")
 
std::vector< double > getTargetPose_RobotSpace (const std::string &limelightName="")
 
std::vector< double > getTargetColor (const std::string &limelightName="")
 
double getFiducialID (const std::string &limelightName="")
 
std::string getNeuralClassID (const std::string &limelightName="")
 
std::vector< std::string > getRawBarcodeData (const std::string &limelightName="")
 
void setPipelineIndex (const std::string &limelightName, int index)
 
void setPriorityTagID (const std::string &limelightName, int ID)
 
void setLEDMode_PipelineControl (const std::string &limelightName="")
 
void setLEDMode_ForceOff (const std::string &limelightName="")
 
void setLEDMode_ForceBlink (const std::string &limelightName="")
 
void setLEDMode_ForceOn (const std::string &limelightName="")
 
void setStreamMode_Standard (const std::string &limelightName="")
 
void setStreamMode_PiPMain (const std::string &limelightName="")
 
void setStreamMode_PiPSecondary (const std::string &limelightName="")
 
void setCropWindow (const std::string &limelightName, double cropXMin, double cropXMax, double cropYMin, double cropYMax)
 
void setFiducial3DOffset (const std::string &limelightName, double offsetX, double offsetY, double offsetZ)
 
void SetRobotOrientation_INTERNAL (const std::string &limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate, bool flush)
 
void SetRobotOrientation (const std::string &limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate)
 
void SetRobotOrientation_NoFlush (const std::string &limelightName, double yaw, double yawRate, double pitch, double pitchRate, double roll, double rollRate)
 
void SetIMUMode (const std::string &limelightName, int mode)
 
void SetFidcuial3DOffset (const std::string &limelightName, double x, double y, double z)
 
void SetFiducialIDFiltersOverride (const std::string &limelightName, const std::vector< int > &validIDs)
 
void setCameraPose_RobotSpace (const std::string &limelightName, double forward, double side, double up, double roll, double pitch, double yaw)
 
void setPythonScriptData (const std::string &limelightName, const std::vector< double > &outgoingPythonData)
 
std::vector< double > getPythonScriptData (const std::string &limelightName="")
 
double extractBotPoseEntry (const std::vector< double > &inData, int position)
 
bool validPoseEstimate (const PoseEstimate &pose)
 
PoseEstimate getBotPoseEstimate (const std::string &limelightName, const std::string &entryName, bool isMegaTag2)
 
PoseEstimate getBotPoseEstimate_wpiBlue (const std::string &limelightName="")
 
PoseEstimate getBotPoseEstimate_wpiRed (const std::string &limelightName="")
 
PoseEstimate getBotPoseEstimate_wpiBlue_MegaTag2 (const std::string &limelightName="")
 
PoseEstimate getBotPoseEstimate_wpiRed_MegaTag2 (const std::string &limelightName="")
 
IMUData getIMUData (const std::string &limelightName)
 
void PhoneHome ()
 
void SetupPortForwarding (const std::string &limelightName)
 
template<typename T , typename KeyType >
T SafeJSONAccess (const wpi::json &jsonData, const KeyType &key, const T &defaultValue)
 
void from_json (const wpi::json &j, RetroreflectiveResultClass &t)
 
void from_json (const wpi::json &j, FiducialResultClass &t)
 
void from_json (const wpi::json &j, DetectionResultClass &t)
 
void from_json (const wpi::json &j, BarcodeResultClass &t)
 
void from_json (const wpi::json &j, ClassificationResultClass &t)
 
void from_json (const wpi::json &j, VisionResultsClass &t)
 
void from_json (const wpi::json &j, LimelightResultsClass &t)
 
LimelightResultsClass getLatestResults (const std::string &limelightName="", bool profile=false)
 

Variables

std::unordered_map< std::string, nt::DoubleArrayEntry > doubleArrayEntries
 
const double INVALID_TARGET = 0.0
 

Detailed Description

Copyright
Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project. https://github.com/LimelightVision/limelightlib-wpicpp LimelightHelpers v1.11 LimelightHelpers provides static methods and classes for interfacing with Limelight vision cameras in FRC. This library supports all Limelight features including AprilTag tracking, Neural Networks, and standard color/retroreflective tracking.

Function Documentation

◆ extractBotPoseEntry()

double LimelightHelpers::extractBotPoseEntry ( const std::vector< double > & inData,
int position )
inline

◆ Flush()

void LimelightHelpers::Flush ( )
inline

◆ from_json() [1/7]

void LimelightHelpers::from_json ( const wpi::json & j,
BarcodeResultClass & t )
inline

Represents a Barcode Target Result extracted from JSON Output

Barcode family type (e.g. "QR", "DataMatrix", etc.)

Gets the decoded data content of the barcode

◆ from_json() [2/7]

void LimelightHelpers::from_json ( const wpi::json & j,
ClassificationResultClass & t )
inline

Represents a Neural Classifier Pipeline Result extracted from JSON Output

◆ from_json() [3/7]

void LimelightHelpers::from_json ( const wpi::json & j,
DetectionResultClass & t )
inline

Represents a Neural Detector Pipeline Result extracted from JSON Output

◆ from_json() [4/7]

void LimelightHelpers::from_json ( const wpi::json & j,
FiducialResultClass & t )
inline

Represents an AprilTag/Fiducial Target Result extracted from JSON Output

◆ from_json() [5/7]

void LimelightHelpers::from_json ( const wpi::json & j,
LimelightResultsClass & t )
inline

Limelight Results object, parsed from a Limelight's JSON results output.

◆ from_json() [6/7]

void LimelightHelpers::from_json ( const wpi::json & j,
RetroreflectiveResultClass & t )
inline

Represents a Color/Retroreflective Target Result extracted from JSON Output

◆ from_json() [7/7]

void LimelightHelpers::from_json ( const wpi::json & j,
VisionResultsClass & t )
inline

◆ getBotpose()

std::vector< double > LimelightHelpers::getBotpose ( const std::string & limelightName = "")
inline

◆ getBotpose_TargetSpace()

std::vector< double > LimelightHelpers::getBotpose_TargetSpace ( const std::string & limelightName = "")
inline

◆ getBotpose_wpiBlue()

std::vector< double > LimelightHelpers::getBotpose_wpiBlue ( const std::string & limelightName = "")
inline

◆ getBotpose_wpiRed()

std::vector< double > LimelightHelpers::getBotpose_wpiRed ( const std::string & limelightName = "")
inline

◆ getBotPoseEstimate()

PoseEstimate LimelightHelpers::getBotPoseEstimate ( const std::string & limelightName,
const std::string & entryName,
bool isMegaTag2 )
inline

◆ getBotPoseEstimate_wpiBlue()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiBlue ( const std::string & limelightName = "")
inline

◆ getBotPoseEstimate_wpiBlue_MegaTag2()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiBlue_MegaTag2 ( const std::string & limelightName = "")
inline

◆ getBotPoseEstimate_wpiRed()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiRed ( const std::string & limelightName = "")
inline

◆ getBotPoseEstimate_wpiRed_MegaTag2()

PoseEstimate LimelightHelpers::getBotPoseEstimate_wpiRed_MegaTag2 ( const std::string & limelightName = "")
inline

◆ getCameraPose_RobotSpace()

std::vector< double > LimelightHelpers::getCameraPose_RobotSpace ( const std::string & limelightName = "")
inline

◆ getCameraPose_TargetSpace()

std::vector< double > LimelightHelpers::getCameraPose_TargetSpace ( const std::string & limelightName = "")
inline

◆ getClassifierClass()

const std::string LimelightHelpers::getClassifierClass ( const std::string & limelightName)
inline

Gets the current neural classifier result class name.

Parameters
limelightNameName of the Limelight camera
Returns
Class name string from classifier pipeline

◆ getClassifierClassIndex()

int LimelightHelpers::getClassifierClassIndex ( const std::string & limelightName)
inline

Gets the classifier class index from the currently running neural classifier pipeline

Parameters
limelightNameName of the Limelight camera
Returns
Class index from classifier pipeline

◆ getCurrentPipelineIndex()

double LimelightHelpers::getCurrentPipelineIndex ( const std::string & limelightName)
inline

Gets the active pipeline index.

Parameters
limelightNameName of the Limelight camera
Returns
Current pipeline index (0-9)

◆ getCurrentPipelineType()

const std::string LimelightHelpers::getCurrentPipelineType ( const std::string & limelightName)
inline

Gets the current pipeline type.

Parameters
limelightNameName of the Limelight camera
Returns
Pipeline type string (e.g. "retro", "apriltag", etc)

◆ getDetectorClass()

const std::string LimelightHelpers::getDetectorClass ( const std::string & limelightName)
inline

Gets the primary neural detector result class name.

Parameters
limelightNameName of the Limelight camera
Returns
Class name string from detector pipeline

◆ getDetectorClassIndex()

int LimelightHelpers::getDetectorClassIndex ( const std::string & limelightName)
inline

Gets the detector class index from the primary result of the currently running neural detector pipeline.

Parameters
limelightNameName of the Limelight camera
Returns
Class index from detector pipeline

◆ getFiducialID()

double LimelightHelpers::getFiducialID ( const std::string & limelightName = "")
inline

◆ getIMUData()

IMUData LimelightHelpers::getIMUData ( const std::string & limelightName)
inline

Gets the current IMU data from NetworkTables. IMU data is formatted as [robotYaw, Roll, Pitch, Yaw, gyroX, gyroY, gyroZ, accelX, accelY, accelZ]. Returns all zeros if data is invalid or unavailable.

Parameters
limelightNameName/identifier of the Limelight
Returns
IMUData object containing all current IMU data

◆ getJSONDump()

std::string LimelightHelpers::getJSONDump ( const std::string & limelightName = "")
inline

Gets the full JSON results dump.

Parameters
limelightNameName of the Limelight camera
Returns
JSON string containing all current results

◆ getLatency_Capture()

double LimelightHelpers::getLatency_Capture ( const std::string & limelightName = "")
inline

Gets the capture latency.

Parameters
limelightNameName of the Limelight camera
Returns
Capture latency in milliseconds

◆ getLatency_Pipeline()

double LimelightHelpers::getLatency_Pipeline ( const std::string & limelightName = "")
inline

Gets the pipeline's processing latency contribution.

Parameters
limelightNameName of the Limelight camera
Returns
Pipeline latency in milliseconds

◆ getLatestResults()

LimelightResultsClass LimelightHelpers::getLatestResults ( const std::string & limelightName = "",
bool profile = false )
inline

◆ getLimelightDoubleArrayEntry()

nt::DoubleArrayEntry & LimelightHelpers::getLimelightDoubleArrayEntry ( const std::string & tableName,
const std::string & entryName )
inline

◆ getLimelightNTDouble()

double LimelightHelpers::getLimelightNTDouble ( const std::string & tableName,
const std::string & entryName )
inline

◆ getLimelightNTDoubleArray()

std::vector< double > LimelightHelpers::getLimelightNTDoubleArray ( const std::string & tableName,
const std::string & entryName )
inline

◆ getLimelightNTString()

std::string LimelightHelpers::getLimelightNTString ( const std::string & tableName,
const std::string & entryName )
inline

◆ getLimelightNTStringArray()

std::vector< std::string > LimelightHelpers::getLimelightNTStringArray ( const std::string & tableName,
const std::string & entryName )
inline

◆ getLimelightNTTable()

std::shared_ptr< nt::NetworkTable > LimelightHelpers::getLimelightNTTable ( const std::string & tableName)
inline

◆ getLimelightNTTableEntry()

nt::NetworkTableEntry LimelightHelpers::getLimelightNTTableEntry ( const std::string & tableName,
const std::string & entryName )
inline

◆ getNeuralClassID()

std::string LimelightHelpers::getNeuralClassID ( const std::string & limelightName = "")
inline

◆ getPythonScriptData()

std::vector< double > LimelightHelpers::getPythonScriptData ( const std::string & limelightName = "")
inline

◆ getRawBarcodeData()

std::vector< std::string > LimelightHelpers::getRawBarcodeData ( const std::string & limelightName = "")
inline

◆ getT2DArray()

std::vector< double > LimelightHelpers::getT2DArray ( const std::string & limelightName)
inline

T2D is an array that contains several targeting metrcis

Parameters
limelightNameName of the Limelight camera
Returns
Array containing [targetValid, targetCount, targetLatency, captureLatency, tx, ty, txnc, tync, ta, tid, targetClassIndexDetector, targetClassIndexClassifier, targetLongSidePixels, targetShortSidePixels, targetHorizontalExtentPixels, targetVerticalExtentPixels, targetSkewDegrees]

◆ getTA()

double LimelightHelpers::getTA ( const std::string & limelightName = "")
inline

Gets the target area as a percentage of the image (0-100%).

Parameters
limelightNameName of the Limelight camera ("" for default)
Returns
Target area percentage (0-100)

◆ getTargetColor()

std::vector< double > LimelightHelpers::getTargetColor ( const std::string & limelightName = "")
inline

◆ getTargetCount()

int LimelightHelpers::getTargetCount ( const std::string & limelightName)
inline

Gets the number of targets currently detected.

Parameters
limelightNameName of the Limelight camera
Returns
Number of detected targets

◆ getTargetPose_CameraSpace()

std::vector< double > LimelightHelpers::getTargetPose_CameraSpace ( const std::string & limelightName = "")
inline

◆ getTargetPose_RobotSpace()

std::vector< double > LimelightHelpers::getTargetPose_RobotSpace ( const std::string & limelightName = "")
inline

◆ getTV()

bool LimelightHelpers::getTV ( const std::string & limelightName = "")
inline

Does the Limelight have a valid target?

Parameters
limelightNameName of the Limelight camera ("" for default)
Returns
True if a valid target is present, false otherwise

◆ getTX()

double LimelightHelpers::getTX ( const std::string & limelightName = "")
inline

Gets the horizontal offset from the crosshair to the target in degrees.

Parameters
limelightNameName of the Limelight camera ("" for default)
Returns
Horizontal offset angle in degrees

◆ getTXNC()

double LimelightHelpers::getTXNC ( const std::string & limelightName)
inline

Gets the horizontal offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality.

Parameters
limelightNameName of the Limelight camera ("" for default)
Returns
Horizontal offset angle in degrees

◆ getTY()

double LimelightHelpers::getTY ( const std::string & limelightName = "")
inline

Gets the vertical offset from the crosshair to the target in degrees.

Parameters
limelightNameName of the Limelight camera ("" for default)
Returns
Vertical offset angle in degrees

◆ getTYNC()

double LimelightHelpers::getTYNC ( const std::string & limelightName)
inline

Gets the vertical offset from the principal pixel/point to the target in degrees. This is the most accurate 2d metric if you are using a calibrated camera and you don't need adjustable crosshair functionality.

Parameters
limelightNameName of the Limelight camera ("" for default)
Returns
Vertical offset angle in degrees

◆ PhoneHome()

void LimelightHelpers::PhoneHome ( )
inline

◆ pose2dToArray()

std::array< double, 6 > LimelightHelpers::pose2dToArray ( const frc::Pose2d & pose)
inline

Converts a Pose2d object to an array of doubles in the format [x, y, z, roll, pitch, yaw]. Translation components are in meters, rotation components are in degrees. Note: z, roll, and pitch will be 0 since Pose2d only contains x, y, and yaw.

Parameters
poseThe Pose2d object to convert
Returns
A 6-element array containing [x, y, 0, 0, 0, yaw]

◆ pose3dToArray()

std::array< double, 6 > LimelightHelpers::pose3dToArray ( const frc::Pose3d & pose)
inline

Converts a Pose3d object to an array of doubles in the format [x, y, z, roll, pitch, yaw]. Translation components are in meters, rotation components are in degrees.

Parameters
poseThe Pose3d object to convert
Returns
A 6-element array containing [x, y, z, roll, pitch, yaw]

◆ SafeJSONAccess()

template<typename T , typename KeyType >
T LimelightHelpers::SafeJSONAccess ( const wpi::json & jsonData,
const KeyType & key,
const T & defaultValue )

◆ sanitizeName()

std::string LimelightHelpers::sanitizeName ( const std::string & name)
inline

◆ setCameraPose_RobotSpace()

void LimelightHelpers::setCameraPose_RobotSpace ( const std::string & limelightName,
double forward,
double side,
double up,
double roll,
double pitch,
double yaw )
inline

Sets the camera pose in robotspace. The UI camera pose must be set to zeros

◆ setCropWindow()

void LimelightHelpers::setCropWindow ( const std::string & limelightName,
double cropXMin,
double cropXMax,
double cropYMin,
double cropYMax )
inline

Sets the crop window for the camera. The crop window in the UI must be completely open.

Parameters
limelightNameName of the Limelight camera
cropXMinMinimum X value (-1 to 1)
cropXMaxMaximum X value (-1 to 1)
cropYMinMinimum Y value (-1 to 1)
cropYMaxMaximum Y value (-1 to 1)

◆ SetFidcuial3DOffset()

void LimelightHelpers::SetFidcuial3DOffset ( const std::string & limelightName,
double x,
double y,
double z )
inline

Sets the 3D point-of-interest offset for the current fiducial pipeline. https://docs.limelightvision.io/docs/docs-limelight/pipeline-apriltag/apriltag-3d#point-of-interest-tracking

Parameters
limelightNameName/identifier of the Limelight
xX offset in meters
yY offset in meters
zZ offset in meters

◆ setFiducial3DOffset()

void LimelightHelpers::setFiducial3DOffset ( const std::string & limelightName,
double offsetX,
double offsetY,
double offsetZ )
inline

Sets 3D offset point for easy 3D targeting.

◆ SetFiducialIDFiltersOverride()

void LimelightHelpers::SetFiducialIDFiltersOverride ( const std::string & limelightName,
const std::vector< int > & validIDs )
inline

◆ SetIMUMode()

void LimelightHelpers::SetIMUMode ( const std::string & limelightName,
int mode )
inline

Configures the IMU mode for MegaTag2 Localization

Parameters
limelightNameName/identifier of the Limelight
modeIMU mode.

◆ setLEDMode_ForceBlink()

void LimelightHelpers::setLEDMode_ForceBlink ( const std::string & limelightName = "")
inline

◆ setLEDMode_ForceOff()

void LimelightHelpers::setLEDMode_ForceOff ( const std::string & limelightName = "")
inline

◆ setLEDMode_ForceOn()

void LimelightHelpers::setLEDMode_ForceOn ( const std::string & limelightName = "")
inline

◆ setLEDMode_PipelineControl()

void LimelightHelpers::setLEDMode_PipelineControl ( const std::string & limelightName = "")
inline

◆ setLimelightNTDouble()

void LimelightHelpers::setLimelightNTDouble ( const std::string & tableName,
const std::string entryName,
double val )
inline

◆ setLimelightNTDoubleArray()

void LimelightHelpers::setLimelightNTDoubleArray ( const std::string & tableName,
const std::string & entryName,
const std::span< const double > & vals )
inline

◆ setPipelineIndex()

void LimelightHelpers::setPipelineIndex ( const std::string & limelightName,
int index )
inline

◆ setPriorityTagID()

void LimelightHelpers::setPriorityTagID ( const std::string & limelightName,
int ID )
inline

◆ setPythonScriptData()

void LimelightHelpers::setPythonScriptData ( const std::string & limelightName,
const std::vector< double > & outgoingPythonData )
inline

◆ SetRobotOrientation()

void LimelightHelpers::SetRobotOrientation ( const std::string & limelightName,
double yaw,
double yawRate,
double pitch,
double pitchRate,
double roll,
double rollRate )
inline

Sets the robot orientation for mt2.

◆ SetRobotOrientation_INTERNAL()

void LimelightHelpers::SetRobotOrientation_INTERNAL ( const std::string & limelightName,
double yaw,
double yawRate,
double pitch,
double pitchRate,
double roll,
double rollRate,
bool flush )
inline

◆ SetRobotOrientation_NoFlush()

void LimelightHelpers::SetRobotOrientation_NoFlush ( const std::string & limelightName,
double yaw,
double yawRate,
double pitch,
double pitchRate,
double roll,
double rollRate )
inline

◆ setStreamMode_PiPMain()

void LimelightHelpers::setStreamMode_PiPMain ( const std::string & limelightName = "")
inline

◆ setStreamMode_PiPSecondary()

void LimelightHelpers::setStreamMode_PiPSecondary ( const std::string & limelightName = "")
inline

◆ setStreamMode_Standard()

void LimelightHelpers::setStreamMode_Standard ( const std::string & limelightName = "")
inline

◆ SetupPortForwarding()

void LimelightHelpers::SetupPortForwarding ( const std::string & limelightName)
inline

◆ toPose2D()

frc::Pose2d LimelightHelpers::toPose2D ( const std::vector< double > & inData)
inline

Takes a 6-length array of pose data and converts it to a Pose2d object. Uses only x, y, and yaw components, ignoring z, roll, and pitch. Array format: [x, y, z, roll, pitch, yaw] where angles are in degrees.

Parameters
inDataArray containing pose data [x, y, z, roll, pitch, yaw]
Returns
Pose2d object representing the pose, or empty Pose2d if invalid data

◆ toPose3D()

frc::Pose3d LimelightHelpers::toPose3D ( const std::vector< double > & inData)
inline

Takes a 6-length array of pose data and converts it to a Pose3d object. Array format: [x, y, z, roll, pitch, yaw] where angles are in degrees.

Parameters
inDataArray containing pose data [x, y, z, roll, pitch, yaw]
Returns
Pose3d object representing the pose, or empty Pose3d if invalid data

◆ validPoseEstimate()

bool LimelightHelpers::validPoseEstimate ( const PoseEstimate & pose)
inline

Variable Documentation

◆ doubleArrayEntries

std::unordered_map<std::string, nt::DoubleArrayEntry> LimelightHelpers::doubleArrayEntries
inline

◆ INVALID_TARGET

const double LimelightHelpers::INVALID_TARGET = 0.0
inline