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added vision poses from a few locations
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| @@ -1,54 +1,58 @@ | ||
| // // Copyright (c) FIRST and other WPILib contributors. | ||
| // // Open Source Software; you can modify and/or share it under the terms of | ||
| // // the WPILib BSD license file in the root directory of this project. | ||
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| // package frc.robot.vision; | ||
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| // import edu.wpi.first.math.geometry.Pose2d; | ||
| // import edu.wpi.first.math.geometry.Rotation2d; | ||
| // import java.util.List; | ||
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| // public class VisionUtil { | ||
| // private static final VisionInterpolationData SUBWOOFER = | ||
| // new VisionInterpolationData(new Pose2d(null, 89,5.5, new Rotation2d(67)), "Subwoofer"); | ||
| // private static final VisionInterpolationData STAGE_FRONT = | ||
| // new VisionInterpolationData(null, null, "StageFront"); | ||
| // private static final VisionInterpolationData STAGE_RIGHT = | ||
| // new VisionInterpolationData(null, null, "StageRight"); | ||
| // private static final VisionInterpolationData STAGE_MIDDLE = | ||
| // new VisionInterpolationData(null, null, "StageMiddle"); | ||
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| // private static final List<VisionInterpolationData> DATA_POINTS = | ||
| // List.of(SUBWOOFER, STAGE_FRONT, STAGE_RIGHT, STAGE_MIDDLE); | ||
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| // /** | ||
| // * @param visionInput - pose from the limelight | ||
| // * @return a transformed pose that can be added to the pose estimator | ||
| // */ | ||
| // public static Pose2d interpolatePose(Pose2d visionInput) { | ||
| // double distanceSum = 0; | ||
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| // for (var dataPoint : DATA_POINTS) { | ||
| // var distancePoint = | ||
| // dataPoint.visionPose().getTranslation().getDistance(visionInput.getTranslation()); | ||
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| // distanceSum += distancePoint; | ||
| // } | ||
| // double weightedX = 0; | ||
| // double weightedY = 0; | ||
| // Rotation2d weightedRotation = new Rotation2d(); | ||
| // for (var dataPoint : DATA_POINTS) { | ||
| // var distancePoint = | ||
| // dataPoint.visionPose().getTranslation().getDistance(visionInput.getTranslation()); | ||
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| // var result = | ||
| // dataPoint.visionPose().minus(dataPoint.measuredPose()).times(distanceSum - distancePoint); | ||
| // weightedX += result.getX(); | ||
| // weightedY += result.getY(); | ||
| // weightedRotation = weightedRotation.plus(result.getRotation()); | ||
| // } | ||
| // Pose2d weightedSum = new Pose2d(weightedX, weightedY, weightedRotation); | ||
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| // return weightedSum.div(distanceSum); | ||
| // } | ||
| // } | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
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| package frc.robot.vision; | ||
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| import edu.wpi.first.math.geometry.Pose2d; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import java.util.List; | ||
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| public class VisionUtil { | ||
| private static final VisionInterpolationData SUBWOOFER = | ||
| new VisionInterpolationData( | ||
| new Pose2d(), new Pose2d(15.2, 5.5, new Rotation2d(0)), "Subwoofer"); | ||
| private static final VisionInterpolationData STAGE_FRONT = | ||
| new VisionInterpolationData( | ||
| new Pose2d(), new Pose2d(13.0, 5.5, new Rotation2d(0)), "StageFront"); | ||
| private static final VisionInterpolationData STAGE_RIGHT = | ||
| new VisionInterpolationData( | ||
| new Pose2d(), new Pose2d(10.6, 7.0, new Rotation2d(0)), "StageRight"); | ||
| private static final VisionInterpolationData STAGE_MIDDLE = | ||
| new VisionInterpolationData( | ||
| new Pose2d(), new Pose2d(12.0, 4.7, new Rotation2d(0)), "StageMiddle"); | ||
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| private static final List<VisionInterpolationData> DATA_POINTS = | ||
| List.of(SUBWOOFER, STAGE_FRONT, STAGE_RIGHT, STAGE_MIDDLE); | ||
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| /** | ||
| * @param visionInput - pose from the limelight | ||
| * @return a transformed pose that can be added to the pose estimator | ||
| */ | ||
| public static Pose2d interpolatePose(Pose2d visionInput) { | ||
| double distanceSum = 0; | ||
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| for (var dataPoint : DATA_POINTS) { | ||
| var distancePoint = | ||
| dataPoint.visionPose().getTranslation().getDistance(visionInput.getTranslation()); | ||
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| distanceSum += distancePoint; | ||
| } | ||
| double weightedX = 0; | ||
| double weightedY = 0; | ||
| Rotation2d weightedRotation = new Rotation2d(); | ||
| for (var dataPoint : DATA_POINTS) { | ||
| var distancePoint = | ||
| dataPoint.visionPose().getTranslation().getDistance(visionInput.getTranslation()); | ||
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| var result = | ||
| dataPoint.visionPose().minus(dataPoint.measuredPose()).times(distanceSum - distancePoint); | ||
| weightedX += result.getX(); | ||
| weightedY += result.getY(); | ||
| weightedRotation = weightedRotation.plus(result.getRotation()); | ||
| } | ||
| Pose2d weightedSum = new Pose2d(weightedX, weightedY, weightedRotation); | ||
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| return weightedSum.div(distanceSum); | ||
| } | ||
| } |