Reefscape2025/frc.robot.utils/ExtensionsKt/getEstimatedPose

getEstimatedPose

public final static EstimatedRobotPose getEstimatedPose(Pair<PhotonModule, PhotonPipelineResult> $self, Pose2d prevEstimatedRobotPose)

Extension function for a Pair of PhotonModule and PhotonPipelineResult to get estimated poses.

This function sets the reference pose for the pose estimator of the PhotonModule and updates it with the PhotonPipelineResult. If an estimated robot pose is present, it adds it to the list of poses.

Receiver

Pair The pair of PhotonModule and PhotonPipelineResult.

Return

List The list of estimated robot poses.

Parameters

prevEstimatedRobotPose

Pose2d? The previous estimated robot pose to set as reference.