org.firstinspires.ftc.robotcore.external.navigation

Class VuforiaBase

java.lang.Object

org.firstinspires.ftc.robotcore.external.navigation.VuforiaBase

Direct Known Subclasses:

VuforiaRelicRecovery, VuforiaRoverRuckus

public abstract class VuforiaBase
extends java.lang.Object

An abstract base class that provides simplified access to Vuforia.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	VuforiaBase.TrackingResults

Field Summary

Fields

Modifier and Type	Field and Description
static float	MM_FTC_FIELD_WIDTH
static float	MM_PER_INCH

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	VuforiaBase(java.lang.String assetName, java.lang.String[] trackableNames, OpenGLMatrix[] locationsOnField)

Method Summary

Modifier and Type	Method and Description
void	activate() Activates all trackables, so that it is actively seeking their presence.
void	close() Deactivates the trackables and cleans up.
static VuforiaLocalizer.Parameters	createParameters()
void	deactivate() Deactivates all trackables, causing it to no longer see their presence.
VuforiaBase.TrackingResults	emptyTrackingResults(java.lang.String name)
protected VuforiaTrackableDefaultListener	getListener(java.lang.String name)
VuforiaLocalizer	getVuforiaLocalizer()
void	initialize(java.lang.String vuforiaLicenseKey, CameraName cameraName, java.lang.String webcamCalibrationFilename, boolean useExtendedTracking, boolean enableCameraMonitoring, VuforiaLocalizer.Parameters.CameraMonitorFeedback cameraMonitorFeedback, float dx, float dy, float dz, float xAngle, float yAngle, float zAngle, boolean useCompetitionFieldTargetLocations) Initializes Vuforia, with a CameraName.
void	initialize(java.lang.String vuforiaLicenseKey, VuforiaLocalizer.CameraDirection cameraDirection, boolean useExtendedTracking, boolean enableCameraMonitoring, VuforiaLocalizer.Parameters.CameraMonitorFeedback cameraMonitorFeedback, float dx, float dy, float dz, float xAngle, float yAngle, float zAngle, boolean useCompetitionFieldTargetLocations) Initializes Vuforia, with a CameraDirection.
java.lang.String	printTrackableNames()
VuforiaBase.TrackingResults	track(java.lang.String name) Returns the TrackingResults of the trackable with the given name.
VuforiaBase.TrackingResults	trackPose(java.lang.String name) Returns the TrackingResults of the pose of the trackable with the given name.

Methods inherited from class java.lang.Object

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

Field Detail

MM_PER_INCH

public static final float MM_PER_INCH

See Also:

Constant Field Values

MM_FTC_FIELD_WIDTH

public static final float MM_FTC_FIELD_WIDTH

See Also:

Constant Field Values

Constructor Detail

VuforiaBase

protected VuforiaBase(java.lang.String assetName,
                      java.lang.String[] trackableNames,
                      OpenGLMatrix[] locationsOnField)

Method Detail

initialize

public void initialize(java.lang.String vuforiaLicenseKey,
                       VuforiaLocalizer.CameraDirection cameraDirection,
                       boolean useExtendedTracking,
                       boolean enableCameraMonitoring,
                       VuforiaLocalizer.Parameters.CameraMonitorFeedback cameraMonitorFeedback,
                       float dx,
                       float dy,
                       float dz,
                       float xAngle,
                       float yAngle,
                       float zAngle,
                       boolean useCompetitionFieldTargetLocations)

Initializes Vuforia, with a CameraDirection.

initialize

public void initialize(java.lang.String vuforiaLicenseKey,
                       CameraName cameraName,
                       java.lang.String webcamCalibrationFilename,
                       boolean useExtendedTracking,
                       boolean enableCameraMonitoring,
                       VuforiaLocalizer.Parameters.CameraMonitorFeedback cameraMonitorFeedback,
                       float dx,
                       float dy,
                       float dz,
                       float xAngle,
                       float yAngle,
                       float zAngle,
                       boolean useCompetitionFieldTargetLocations)

Initializes Vuforia, with a CameraName.

createParameters

public static VuforiaLocalizer.Parameters createParameters()

getVuforiaLocalizer

public VuforiaLocalizer getVuforiaLocalizer()

activate

public void activate()

Activates all trackables, so that it is actively seeking their presence.

Throws:

java.lang.IllegalStateException - if initialized has not been called yet.

deactivate

public void deactivate()

Deactivates all trackables, causing it to no longer see their presence.

Throws:

java.lang.IllegalStateException - if initialized has not been called yet.

track

public VuforiaBase.TrackingResults track(java.lang.String name)

Returns the TrackingResults of the trackable with the given name.

Throws:

java.lang.IllegalStateException - if initialized has not been called yet.

java.lang.IllegalArgumentException - if name is not the name of a trackable.

trackPose

public VuforiaBase.TrackingResults trackPose(java.lang.String name)

Returns the TrackingResults of the pose of the trackable with the given name. The pose is the location of the trackable in the phone's coordinate system.

Throws:

java.lang.IllegalStateException - if initialized has not been called yet.

java.lang.IllegalArgumentException - if name is not the name of a trackable.

emptyTrackingResults

public VuforiaBase.TrackingResults emptyTrackingResults(java.lang.String name)

getListener

protected VuforiaTrackableDefaultListener getListener(java.lang.String name)

close

public void close()

Deactivates the trackables and cleans up.

printTrackableNames

public java.lang.String printTrackableNames()