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https://github.com/Astatin3/photonvision-2025.0.0-beta-6.git
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astatin3
44 lines
1.6 KiB
Python
44 lines
1.6 KiB
Python
###############################################################################
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## Copyright (C) Photon Vision.
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###############################################################################
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## This program is free software: you can redistribute it and/or modify
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## it under the terms of the GNU General Public License as published by
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## the Free Software Foundation, either version 3 of the License, or
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## (at your option) any later version.
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##
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## This program is distributed in the hope that it will be useful,
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## but WITHOUT ANY WARRANTY; without even the implied warranty of
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## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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## GNU General Public License for more details.
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##
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## You should have received a copy of the GNU General Public License
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## along with this program. If not, see <https://www.gnu.org/licenses/>.
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###############################################################################
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from dataclasses import dataclass
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from typing import TYPE_CHECKING
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from wpimath.geometry import Pose3d
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from .targeting.photonTrackedTarget import PhotonTrackedTarget
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if TYPE_CHECKING:
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from .photonPoseEstimator import PoseStrategy
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@dataclass
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class EstimatedRobotPose:
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"""An estimated pose based on pipeline result"""
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estimatedPose: Pose3d
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"""The estimated pose"""
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timestampSeconds: float
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"""The estimated time the frame used to derive the robot pose was taken"""
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targetsUsed: list[PhotonTrackedTarget]
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"""A list of the targets used to compute this pose"""
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strategy: "PoseStrategy"
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"""The strategy actually used to produce this pose"""
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