Package frc.alotobots.library.subsystems.vision.localizationfusion

Class LocalizationState

java.lang.Object

frc.alotobots.library.subsystems.vision.localizationfusion.LocalizationState

public class LocalizationState
extends Object

Manages the state machine for the robot localization system.

This class implements a hierarchical state machine that controls transitions between different pose estimation sources based on their availability and reliability. The system follows this hierarchy:

1. Quest SLAM as primary source (120Hz updates) 2. AprilTags as backup source 3. Odometry as emergency fallback

State transitions are logged for debugging and monitoring purposes.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	LocalizationState.State	Represents the possible states of the localization system.

Constructor Summary

Constructors

Constructor	Description
LocalizationState(StateTransitionLogger logger)	Creates a new LocalizationState instance.

Method Summary

Modifier and Type	Method	Description
boolean	isInState(LocalizationState.State... states)	Checks if the system is currently in any of the specified states.
void	transitionTo(LocalizationState.State newState)	Attempts to transition to a new state.

Methods inherited from class java.lang.Object

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

Constructor Details

LocalizationState

public LocalizationState(StateTransitionLogger logger)

Creates a new LocalizationState instance.

Parameters:

logger - Logger to record state transitions

Method Details

transitionTo

public void transitionTo(LocalizationState.State newState)

Attempts to transition to a new state. The transition will be logged through the StateTransitionLogger. Invalid transitions will be logged but not executed.

Parameters:

newState - The target state to transition to

isInState

public boolean isInState(LocalizationState.State... states)

Checks if the system is currently in any of the specified states. This is useful for checking multiple valid states at once.

Parameters:

states - Variable number of states to check against

Returns:

true if current state matches any of the specified states