8000 Add method to clear sim targets by hadley31 · Pull Request #733 · PhotonVision/photonvision · GitHub
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Add method to clear sim targets #733

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Merged
merged 1 commit into from
Jan 11, 2023
Merged

Add method to clear sim targets #733

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10 changes: 9 additions & 1 deletion photon-lib/src/main/java/org/photonvision/SimVisionSystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,6 @@ public void addSimVisionTarget(SimVisionTarget target) {
dbgField
.getObject("Target " + Integer.toString(target.targetID))
.setPose(target.targetPose.toPose2d());
;
}

/**
Expand All @@ -139,6 +138,15 @@ public void addVisionTargets(AprilTagFieldLayout tagLayout) {
}
}

/**
* Clears all sim vision targets. This is useful for switching alliances and needing to repopulate
* the sim targets. NOTE: Old targets will still show on the Field2d unless overwritten by new
* targets with the same ID
*/
public void clearVisionTargets() {
tgtList.clear();
}

/**
* Adjust the camera position relative to the robot. Use this if your camera is on a gimbal or
* turret or some other mobile platform.
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8 changes: 8 additions & 0 deletions photon-lib/src/main/native/include/photonlib/SimVisionSystem.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,14 @@ class SimVisionSystem {
->SetPose(target.targetPose.ToPose2d());
}

/**
* Clears all sim vision targets.
* This is useful for switching alliances and needing to repopulate the sim
* targets. NOTE: Old targets will still show on the Field2d unless
* overwritten by new targets with the same ID
*/
void ClearVisionTargets() { targetList.clear(); }

/**
* Adjust the camera position relative to the robot. Use this if your camera
* is on a gimbal or turret or some other mobile platform.
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0