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

Class OculusIOSim

java.lang.Object

frc.alotobots.library.subsystems.vision.oculus.io.OculusIOSim

All Implemented Interfaces:

OculusIO

public class OculusIOSim
extends Object
implements OculusIO

Simulation implementation of OculusIO that provides realistic noisy measurements.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.alotobots.library.subsystems.vision.oculus.io.OculusIO

OculusIO.OculusIOInputs

Constructor Summary

Constructors

Constructor	Description
OculusIOSim(org.ironmaple.simulation.drivesims.SwerveDriveSimulation swerveDriveSimulation)

Method Summary

Modifier and Type	Method	Description
void	resetHeading()	Resets the current heading of the Oculus as zero
void	resetPose(Pose2d oculusTargetPose)	Resets the pose components for resetting the Oculus position tracking.
void	updateInputs(OculusIO.OculusIOInputs inputs)	Updates the set of loggable inputs from the Oculus.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

OculusIOSim

public OculusIOSim(org.ironmaple.simulation.drivesims.SwerveDriveSimulation swerveDriveSimulation)

Method Details

updateInputs

public void updateInputs(OculusIO.OculusIOInputs inputs)

Description copied from interface: OculusIO

Updates the set of loggable inputs from the Oculus.

Specified by:

updateInputs in interface OculusIO

Parameters:

inputs - The input object to update with current values

resetPose

public void resetPose(Pose2d oculusTargetPose)

Description copied from interface: OculusIO

Resets the pose components for resetting the Oculus position tracking. HARD RESET.

Specified by:

resetPose in interface OculusIO

Parameters:

oculusTargetPose - The target pose of the oculus to reset to. NOT THE TARGET ROBOT POSE

resetHeading

public void resetHeading()

Description copied from interface: OculusIO

Resets the current heading of the Oculus as zero

Specified by:

resetHeading in interface OculusIO