basestation.vision

Class VisionCoordinate

java.lang.Object

basestation.vision.VisionCoordinate

public class VisionCoordinate
extends java.lang.Object

All vision coordinates are with respect to a coordinate systems. The canonical coordinate system is such that 0 radians points in the positive x direction and positive rotation is in the counter-clockwise direction. This means pi/2 radians is along the positive Y axis axis.

Field Summary

Fields

Modifier and Type	Field and Description
double	x
double	y

Constructor Summary

Constructors

Constructor and Description
VisionCoordinate(double x, double y)
VisionCoordinate(double x, double y, double theta)

Method Summary

Modifier and Type	Method and Description
boolean	equals(java.lang.Object other)
double	getAngleTo(VisionCoordinate other) Returns the angle from this coordinate to other in degrees.
double	getDistanceTo(VisionCoordinate other) Returns the 2d euclidean distances to the other coordinate, assuming they are based on the same coordinate system
java.util.Optional<java.lang.Double>	getTheta()
double	getThetaOrZero()
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

x

public final double x

y

public final double y

Constructor Detail

VisionCoordinate

public VisionCoordinate(double x,
                        double y)

VisionCoordinate

public VisionCoordinate(double x,
                        double y,
                        double theta)

Parameters:

x - X portion of the coordinate with respect to the coordinate system origin

y - Y portion of the coordinate with respect to the coordinate system origin

theta - an angle in radians as defined above

Method Detail

getAngleTo

public double getAngleTo(VisionCoordinate other)

Returns the angle from this coordinate to other in degrees.

Parameters:

other - The target coordinate

Returns:

the desired angle in normalized radians

getDistanceTo

public double getDistanceTo(VisionCoordinate other)

Returns the 2d euclidean distances to the other coordinate, assuming they are based on the same coordinate system

Parameters:

other - The target coordinate

Returns:

Euclidean distance in meters

getTheta

public java.util.Optional<java.lang.Double> getTheta()

getThetaOrZero

public double getThetaOrZero()

Returns:

The angle of the coordinate or 0 if it is not set. Note, this is not a recommended method since an optional method is presented.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

equals

public boolean equals(java.lang.Object other)

Overrides:

equals in class java.lang.Object