Package com.marslib.vision

Class AprilTagVisionIOSim

java.lang.Object

com.marslib.vision.AprilTagVisionIOSim

All Implemented Interfaces:

AprilTagVisionIO

public class AprilTagVisionIOSim
extends Object
implements AprilTagVisionIO

Desktop simulation implementation of AprilTagVisionIO using PhotonVision's simulation framework.

Renders synthetic camera views of the AprilTag field layout from the robot's true pose, injecting realistic calibration error, latency, and optional occlusion dropout to stress-test the pose estimator fusion pipeline without physical hardware.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.vision.AprilTagVisionIO

AprilTagVisionIO.AprilTagVisionIOInputs

Field Summary

Fields

Modifier and Type	Field	Description
boolean	enableOcclusion
double	occlusionDropProbability

Constructor Summary

Constructors

Constructor	Description
AprilTagVisionIOSim(String cameraName, edu.wpi.first.math.geometry.Transform3d robotToCamera, Supplier<edu.wpi.first.math.geometry.Pose3d> poseSupplier)

Method Summary

Modifier and Type	Method	Description
static void	resetSimulation()	Resets the shared VisionSystemSim singleton.
void	updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.marslib.vision.AprilTagVisionIO

setRobotOrientation

Field Details

enableOcclusion

public boolean enableOcclusion

occlusionDropProbability

public double occlusionDropProbability

Constructor Details

AprilTagVisionIOSim

public AprilTagVisionIOSim(String cameraName,
 edu.wpi.first.math.geometry.Transform3d robotToCamera,
 Supplier<edu.wpi.first.math.geometry.Pose3d> poseSupplier)

Method Details

resetSimulation

public static void resetSimulation()

Resets the shared VisionSystemSim singleton. Must be called in test @BeforeEach to prevent stale camera state from leaking between test classes.

updateInputs

public void updateInputs(AprilTagVisionIO.AprilTagVisionIOInputs inputs)

Specified by:

updateInputs in interface AprilTagVisionIO