Changes to Record

[JosephTLockwood]

Change RawFiducial, RawDetection, and PoseEstimate to a record.

The pull request also adds a few other small things.

• PoseEstimate.DEFAULT, which makes a new default PoseEstimate with all initialized fields
• Adds toString() to be able to access the above records
• Add equal() and isValid() to PoseEstimate
• Remove the deprecated functions (they were adding potential errors at this point)
• Clean up some other object checks

I'm so sorry about the formatting. I'm unsure about your formatting style, as you don't have one built-in, so I am just using mine.

[vercel]

The latest updates on your projects. Learn more about Vercel for Git ↗︎

Name	Status	Preview	Comments	Updated (UTC)
limelightlib-wpijava	✅ Ready (Inspect)	Visit Preview	💬 Add feedback	Nov 13, 2024 7:13pm

[JosephTLockwood]

Deleted printPoseEstimate on accident during cleanup

[KennanHunter]

Records play a lot better with AdvantageKit logging, which is always appreciated. Any chance this gets merged?

[JosephTLockwood]

@KennanHunter Just a heads up, we have this with a few more updates located here. We focused on making it as easy as possible to integrate with AKit. I didn't push the most recent update here as it requires breaking the current PoseEstimator up (things may have changed, but at one point, it didn't like the record inside of records).

@bhjelstrom
Some things during an update that would be nice specifically for LL4 (along with changing to records) are a way to pull the velocity and pose and a way to identify if IMU_ASSIST_MT1 was used on a reading. This is helpful when filtering data and verifying that readings are being trusted on both gyro and LL.

Also, do you have recommendations on when to use IMU_ASSIST_MT1 vs IMU_ASSIST_EXTERNALIMU. I am assuming IMU_ASSIST_MT1 before the match and IMU_ASSIST_EXTERNALIMU during?

[JacksonElia]

@JosephTLockwood I like these changes a lot. My team is making its own version of LimelightHelpers that is more focused on april tags, more cleaned up, and has more support for unit tests. We also use Akit and we were planning on doing something similar to this eventually. If you are interested in contributing these changes to that, that would be awesome! If not, I'll add them eventually.