Package gg.questnav

Class QuestNav

java.lang.Object
gg.questnav.QuestNav
public class QuestNav extends Object
Client-side driver for the QuestNav VIO (Visual-Inertial Odometry) SLAM system. QuestNav publishes its data over NetworkTables from a Meta Quest headset mounted on the robot.

Students: QuestNav provides 6-DOF pose estimation using inside-out tracking from the Quest headset's built-in cameras and IMU. This data is fused with wheel odometry and AprilTag localization in the MARSVision pipeline.

See Also:

  • Constructor Summary

    Constructors
    Constructor
    Description
    QuestNav()
    Constructs a QuestNav client reading from the default "questnav" NetworkTable.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getLatencySeconds()
    Returns the estimated latency of the most recent pose measurement.
    edu.wpi.first.math.geometry.Pose3d
    getPose3d()
    Returns the latest 6-DOF pose estimate from the Quest headset.
    boolean
    isConnected()
    Returns whether the QuestNav headset is currently connected and publishing data.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • QuestNav

      public QuestNav()
      Constructs a QuestNav client reading from the default "questnav" NetworkTable.

  • Method Details

    • isConnected

      public boolean isConnected()
      Returns whether the QuestNav headset is currently connected and publishing data.
      Returns:
      true if the headset is actively communicating.

    • getPose3d

      public edu.wpi.first.math.geometry.Pose3d getPose3d()
      Returns the latest 6-DOF pose estimate from the Quest headset.

      The pose array format is [x, y, z, roll, pitch, yaw] in meters and radians.

      Returns:
      The estimated pose in field coordinates, or an identity pose if no data is available.

    • getLatencySeconds

      public double getLatencySeconds()
      Returns the estimated latency of the most recent pose measurement.
      Returns:
      Latency in seconds.