Package frc.alotobots.library.subsystems.vision.oculus

Interface OculusSubsystem.OculusConsumer

Enclosing class:
OculusSubsystem
Functional Interface:
This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.
@FunctionalInterface public static interface OculusSubsystem.OculusConsumer
Functional interface for components that consume Oculus vision measurements.

Typically implemented by subsystems that handle pose estimation/odometry.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    accept(SwerveDriveSubsystem.VisionSource source, Pose2d visionRobotPoseMeters, double timestampSeconds, Matrix<N3,N1> visionMeasurementStdDevs)
    Accepts a vision measurement from the Oculus subsystem.

  • Method Details

    • accept

      void accept(SwerveDriveSubsystem.VisionSource source, Pose2d visionRobotPoseMeters, double timestampSeconds, Matrix<N3,N1> visionMeasurementStdDevs)
      Accepts a vision measurement from the Oculus subsystem.
      Parameters:
      visionRobotPoseMeters - Field-relative pose of the robot in meters
      timestampSeconds - Timestamp when the measurement was taken, in seconds
      visionMeasurementStdDevs - Standard deviations for the measurement (x, y, theta)