Updated for quickorttrigonlib

Programming-TRIGON · Dec 23, 2024 · 68756ee · 68756ee
1 parent 04cc361
commit 68756ee
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diff --git a/build.gradle b/build.gradle
@@ -100,7 +100,7 @@ dependencies {
     simulationRelease wpi.sim.enableRelease()
 
     implementation 'com.google.code.gson:gson:2.10.1'
-    implementation 'com.github.Programming-TRIGON:TRIGONLib:quick-sort-SNAPSHOT'
+    implementation 'com.github.Programming-TRIGON:TRIGONLib:ca5e770f3d'
 
     def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
     annotationProcessor "org.littletonrobotics.akit:akit-autolog:$akitJson.version"

diff --git a/src/main/java/frc/trigon/robot/poseestimation/poseestimator/PoseEstimator.java b/src/main/java/frc/trigon/robot/poseestimation/poseestimator/PoseEstimator.java
@@ -166,7 +166,7 @@ private void updateFromVision() {
     }
 
     private void sortCamerasByLastTargetTimestamp(AprilTagCamera[] aprilTagCameras) {
-        QuickSort.sort(aprilTagCameras, (aprilTagCamera) -> ((AprilTagCamera) aprilTagCamera).getLatestResultTimestampSeconds());
+        QuickSort.sort(aprilTagCameras, AprilTagCamera::getLatestResultTimestampSeconds);
     }
 
     /**
@@ -236,7 +236,7 @@ private Transform2d calculatePoseAmbiguity(Pose2d estimatedPoseAtObservationTime
         final PoseEstimatorConstants.StandardDeviations estimatedPoseStandardDeviations = cameraStandardDeviations.combineOdometryAndVisionStandardDeviations();
         return scaleTransformFromStandardDeviations(poseEstimateAtObservationTimeToObservationPose, estimatedPoseStandardDeviations);
     }
-    
+
     private Transform2d scaleTransformFromStandardDeviations(Transform2d transform, PoseEstimatorConstants.StandardDeviations standardDeviations) {
         return new Transform2d(
                 transform.getX() * standardDeviations.translation(),