Index

A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
All Classes and Interfaces|All Packages|Constant Field Values|Serialized Form

A

A_GUARDRAIL_IS_NOW_CHECKED_AND_HOLDING - Enum constant in enum class org.horizon36596.simloop.loop.Milestone.Reason

A guardrail that was over its soft budget at the last milestone (or in the accepted baseline) is checked and holding now: the answer stopped doing something it was being penalised for, which is a real gain even when the score barely moves.

abandon(Thread) - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Marks the OpMode thread its run gave up on: one still running team code after the run ended, usually a loop waiting for a timer with nothing in it that ends a tick.

abandonedThread() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns the thread SimClockLoader.abandon(java.lang.Thread) marked, or null.

AbstractFakeDevice - Class in org.horizon36596.simloop.fakehardware

Base for fake devices: supplies the boilerplate HardwareDevice metadata so concrete fakes (e.g.

AbstractFakeDevice() - Constructor for class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

Creates the device.

accepted() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

Whether the candidate was accepted.

accepted() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

Returns true when this candidate became the new last-best.

acceptedCount() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns how many candidates the gate accepted, not counting the baseline.

acceptedCount() - Method in class org.horizon36596.simloop.loop.StopReport

Returns how many the gate accepted, not counting the baseline.

acceptedRunRlog() - Method in class org.horizon36596.simloop.loop.StopReport

Where the accepted run's RLOG was when it was offered.

accepts(double, double, double, double, double, double) - Method in class org.horizon36596.simloop.field.ScoringVolume

Whether a piece at this position, moving with this velocity, is inside the goal the right way: its centre is inside the box and every entry condition holds.

ACTIVE - Enum constant in enum class org.horizon36596.simloop.opmode.OpModePhase

Ticks after PLAY.

activeTicks(int) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Sets how many ticks pass between PLAY and STOP.

add(GapReport.Quantity) - Method in class org.horizon36596.simloop.fit.GapReport

Add a fitted quantity.

addAction(Runnable) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

addData(String, Object) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

addData(String, String, Object...) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

addData(String, String, Func<T>) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

addData(String, Func<T>) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

addDof(String, OneDofPlant, String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant.Builder

Add one degree of freedom.

addHeldPiece(String, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put a new piece straight into the robot, PossessionState.HELD, and return its id — a preload.

addJoint(JointDefinition) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Append one joint.

addJoint(JointDefinition) - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition.Builder

Append a joint riding on the turret, stated in the robot frame at yaw zero.

addLine() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

addLine(String) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

addLoosePiece(double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put a new piece of the default kind on the field, PossessionState.LOOSE, and return its id.

addLoosePiece(String, double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put a new piece on the field at rest on the floor, PossessionState.LOOSE, and return its id.

addPieceAt(String, double, double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put a new piece at a point in space and let the physics have it - how a match's starting pieces are set into a KinematicBody's cell, where they then settle under gravity rather than being parked.

addScoredPiece(String, double, String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put a new piece straight into a goal, PossessionState.SCORED, parked at that goal's next resting slot — the pieces a match starts with already in the goal.

addTag(int, double, double, double, double, double) - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Builder

Adds a vertical tag.

addTiltedTag(int, double, double, double, double, double, double) - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Builder

Adds a tag whose face is tilted up or down from vertical: a tag on a sloped panel, or one lying flat.

advance(double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Advance the physics of every piece that is not held by deltaTime seconds: loose pieces roll, are pushed by the robot and bounce; in-flight pieces fly, and land or score.

advance(double) - Method in class org.horizon36596.simloop.sim.FakeTimer

Advance the clock.

afterTick(int, double) - Method in class org.horizon36596.simloop.sim.live.RealTimePacer

afterTick(int, double) - Method in interface org.horizon36596.simloop.sim.ScenarioRunner.TickPacer

Called once after each tick is logged; may wait before returning.

airDragPerInch(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0 (no drag), so a launched piece flies the drag-free arc the shot solver assumes.

allowsAcceptance() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

Whether this clause lets the candidate through.

apexZInches() - Method in class org.horizon36596.simloop.viz.ShotArc

Returns the highest z on the arc, inches.

append(GamepadInputTrack.Frame) - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Writer

Append one loop.

apply(double, double, double) - Method in class org.horizon36596.simloop.vision.RigidTransform3

A point written in the child frame, written in the parent frame.

apply(FakeDigitalChannel, SwitchPolarity, FieldWorld, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Checks, then puts the matching line level on a fake digital channel, for a robot that reads its switch as a DigitalChannel.

apply(FakeDistanceSensor, FieldWorld, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.RangeFinder

Casts the ray and hands the distance to a fake distance sensor, which reports it - or its out-of-range reading, when the hit is beyond its range or there is none.

apply(FakeRevColorSensorV3, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.ColorProbe

Looks, then makes the sensor see what the probe found: the piece's counts at its gap, or the background with nothing in range.

apply(FakeRevColorSensorV3, FieldWorld, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.RangeFinder

Casts the ray and hands the distance to a fake colour sensor's proximity channel.

apply(FakeTouchSensor, FieldWorld, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Checks, then presses or releases a fake touch sensor to match.

apply(OpModePhase, int, Gamepad, Gamepad) - Method in interface org.horizon36596.simloop.opmode.GamepadScript

Sets the drivers' inputs for one tick.

applyTo(Gamepad) - Method in class org.horizon36596.simloop.sim.live.GamepadState

Make target read this state, by the same path a Driver Station packet takes (class comment).

approachDirection(double, double) - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

Only a piece with a positive velocity component along this field-frame direction scores — the direction a piece travels when it flies into the goal's open face.

AprilTagLayout - Class in org.horizon36596.simloop.vision

Where every AprilTag on a field is: tag id to its centre, the way it faces, and its size.

AprilTagLayout.Builder - Class in org.horizon36596.simloop.vision

Collects tags for an AprilTagLayout.

AprilTagLayout.Tag - Class in org.horizon36596.simloop.vision

One AprilTag: its id, the centre of its square, the direction its printed face looks, and the edge length of the square whose corners a detector reports.

argb() - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

The normalized colour packed as an Android colour int, alpha in the top byte: the SDK's own NormalizedRGBA.toColor arithmetic (each channel times 256, truncated, clipped to 0..255), packed without android.graphics.Color - see the class javadoc.

ArticulatedRobotModel - Class in org.horizon36596.simloop.viz

A robot's moving parts as a tree of joints, turned into the Pose3d[] AdvantageScope's 3D Field tab draws as Component (Robot) objects.

ArticulatedRobotModel.Builder - Class in org.horizon36596.simloop.viz

Builds an ArticulatedRobotModel one component at a time, parents before children.

ArticulatedRobotModel.JointType - Enum Class in org.horizon36596.simloop.viz

What kind of joint attaches a component to its parent.

AT_REST - Static variable in class org.horizon36596.simloop.sim.live.GamepadState

A gamepad nobody is touching: every button up, every axis at zero.

attachChassisAt(double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

Tell the device where the sim's chassis is before any motion is reported, without moving the device's pose.

attachChassisAt(double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Tell the sensor where the sim's chassis is before any motion is reported, without moving the sensor's pose.

axis(int) - Method in class org.horizon36596.simloop.field.OrientedBox

Returns a copy of the box's own axis i (0, 1 or 2) in its frame, a unit vector.

axis(String) - Method in class org.horizon36596.simloop.sim.live.GamepadState

Returns the value of one axis, 0 when it is at rest.

axisAligned(String, double, double, double, double, double, double) - Static method in class org.horizon36596.simloop.field.OrientedBox

Returns a box lined up with the frame's axes, from its centre and half extents, inches.

axisValue - Variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource.KeyBinding

For an axis, the value it pushes the axis to while held; unused for a button.

B

background(int) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

What a ray that hits nothing sees.

backgroundColorHex(String) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Canvas background.

backgroundColorHex(String) - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition.Builder

Canvas background.

ballistic(ShotArc.Launch, double, double, double) - Static method in class org.horizon36596.simloop.viz.ShotArc

Integrates a point-mass flight from a launch state until the piece comes down through stopZInches (or ShotArc.MAX_FLIGHT_S passes), emitting one point every sampleSeconds plus the exact crossing point.

baseline() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns the baseline this driver was built with, scored by its scorer, whether or not it passed.

baselineVerdict() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns the gate's verdict on the baseline, judged without the improvement clause.

baselineVerdict() - Method in class org.horizon36596.simloop.loop.StopReport

Returns the gate's verdict on the loop's baseline.

BEHIND_CAMERA - Enum constant in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

At least one corner of the tag is not in front of the lens.

bestIsBaseline() - Method in class org.horizon36596.simloop.loop.StopReport

Returns true when no candidate beat the baseline, so the answer being reported is the baseline itself.

between(OrientedBox, OrientedBox) - Static method in class org.horizon36596.simloop.field.RobotContact

A placed part against a fixed box, or null when they do not overlap.

blockedBy() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

The clauses that blocked acceptance, in Gate.Clause order.

BodyCell - Class in org.horizon36596.simloop.field

A compartment of a KinematicBody that game pieces can come to rest in and be counted in: a box in the body's own frame.

BodyCell(String, double, double, double, double, double, double, double) - Constructor for class org.horizon36596.simloop.field.BodyCell

Creates a cell from its name, its box in the body's frame and its seat depth.

bothConfirmed() - Static method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

Both checks ran and both passed.

box(double, double, double, double, double, double) - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

The axis-aligned box a piece's centre must enter, field-frame inches: a piece scores on the sub-step its centre's path touches the box (see ScoringVolume.acceptsPath(double, double, double, double, double, double, double, double, double)).

box(String, double, double, double, double, double, double) - Static method in class org.horizon36596.simloop.field.ConvexShape

An axis-aligned box as a convex shape - for tests and for any season whose structure is boxes.

boxColour(String, int) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

Paints every box, field or robot, whose name starts with prefix.

boxes(int) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

Field boxes no prefix matches.

breakdown() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the breakdown as a human-readable block — what a milestone report prints.

budget() - Method in class org.horizon36596.simloop.loop.Objective

The human's rough time/token estimate.

build() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Returns the fake, stopped, at sim time 0, pipeline 0, robot at the field origin facing +X.

build() - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

Returns a world holding everything set so far.

build() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Builds the config from the numbers set so far.

build() - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

Builds the scoring volume.

build() - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant.Builder

Produces the immutable multi-DOF plant.

build() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Builder

Returns the layout holding every tag added so far.

build() - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

Returns the style.

build() - Method in class org.horizon36596.simloop.vision.SimFrameRenderer.Builder

Returns the renderer; precomputes one ray per pixel (and per supersample), so build it once.

build() - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel.Builder

Returns the model.

build() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Validates everything and produces the immutable definition.

build() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition.Builder

Validates the turret-specific rules and produces the definition.

builder() - Static method in class org.horizon36596.simloop.field.FieldWorld

Returns an empty builder; with nothing set it builds the same world as FieldWorld.unbounded().

builder() - Static method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns a builder pre-filled with GamePiecePhysicsConfig.defaults().

builder() - Static method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Start describing a multi-degree-of-freedom mechanism.

builder() - Static method in class org.horizon36596.simloop.vision.AprilTagLayout

Returns a builder for a new layout, holding no tags yet.

builder() - Static method in class org.horizon36596.simloop.vision.FrameStyle

Returns a builder starting from the defaults.

builder() - Static method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns a builder with no components.

builder(String) - Static method in class org.horizon36596.simloop.field.ScoringVolume

Starts a scoring volume.

builder(String) - Static method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Start building.

builder(String) - Static method in class org.horizon36596.simloop.viz.TurretSketchDefinition

Start building.

builder(AprilTagLayout, CameraMount, double, double) - Static method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

A builder for a fake Limelight.

builder(CameraLens, CameraMount) - Static method in class org.horizon36596.simloop.vision.SimFrameRenderer

A builder for a renderer with this lens and mount, the default FrameStyle, no supersampling, gain 1 and no noise.

busReadCount() - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

Returns how many I2C reads the driver has made.

busReadCount() - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

How many I2C reads the driver has made.

BUTTONS - Static variable in class org.horizon36596.simloop.sim.live.GamepadState

Every button this records, by SDK field name.

buttonsDown() - Method in class org.horizon36596.simloop.sim.live.GamepadState

Returns every button that is down, in name order - the order a track line lists them in.

C

CALIBRATION_SECONDS - Static variable in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

How long an IMU calibration keeps the device in CALIBRATING, seconds of sim time.

CALIBRATION_SECONDS_PER_SAMPLE - Static variable in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

How long the OTOS takes per IMU calibration sample, seconds of device time.

CameraLens - Class in org.horizon36596.simloop.vision

A camera's intrinsics: focal lengths and principal point in pixels, the image size, and optionally a lens distortion model.

CameraLens(double, double, double, double, int, int) - Constructor for class org.horizon36596.simloop.vision.CameraLens

A pinhole lens with the given intrinsics and no distortion.

CameraLens(double, double, double, double, int, int, double, double, double, double, double) - Constructor for class org.horizon36596.simloop.vision.CameraLens

A lens with the given intrinsics and Brown-Conrady distortion, coefficients in OpenCV's order: the numbers a camera calibration (calibrateCamera, or a teamwebcamcalibrations.xml entry) produces.

CameraMount - Class in org.horizon36596.simloop.vision

Where a camera sits on the robot and which way it points: the extrinsics.

CameraMount(double, double, double, double, double) - Constructor for class org.horizon36596.simloop.vision.CameraMount

A camera fixed to the robot at the given position and angle, robot frame.

CameraOccluders - Class in org.horizon36596.simloop.vision

The solid things a camera cannot see through, in two frames: boxes fixed to the field (structures, walls, goals) and boxes fixed to the robot (its own chassis, a raised arm, a bumper).

CameraSighting - Class in org.horizon36596.simloop.vision

One game piece as a SimCamera sees it this tick: where its centre lands in the image, how big it looks, how far away it is, and what it is.

candidateDescription() - Method in class org.horizon36596.simloop.loop.Milestone

Returns what the candidate said it changed, in its own words.

canvasAxes(RobotVector3, RobotVector3) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

The projection plane: which robot-local directions become canvas right and canvas up.

canvasSizeInches(double, double) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Canvas extents.

canvasSizeInches(double, double) - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition.Builder

The canvas the chain above the turret is drawn on.

captureSnapshot(String) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

cast(FieldWorld, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.RangeFinder

Casts the ray for a robot at the given pose.

centroidOfPiece(int) - Method in class org.horizon36596.simloop.vision.SimFrame

The mean position of the pixels that show a piece: where a perfect blob detector would put its centre, which moves toward the visible part when the piece is partly hidden or cut off by the edge.

check(FieldWorld, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.ContactSwitch

What the actuator is touching for a robot at the given pose, checked in the order wall, obstacles (in declaration order), pieces (in id order); the first contact found is returned.

checkedTeamPackages(List<String>) - Static method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns an unmodifiable copy of teamPackages, once each prefix is checked.

clause() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

Which of the four clauses this result is for.

clause(Gate.Clause) - Method in class org.horizon36596.simloop.loop.Gate.Verdict

One clause's result.

clauses() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

Every clause that was checked, in Gate.Clause order.

clear() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Removes every item that is not retained, and every line left with no retained item.

clearAll() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Removes every item and line, retained or not, every action, and the log.

clearEncoderMeasuringAnotherMechanism() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Hand this port's reported position and velocity back to this motor's own encoder (the state a fresh FakeMotor is in).

clearFault() - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

Stop forcing a status; the device reports READY or CALIBRATING again.

clearForcedStatus() - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Stop forcing status flags; the status register reports no flags again.

clearMeasuredShaftSpeedFraction() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Hand shaft-speed authority back to the motor's own model (the state a fresh FakeMotor is in).

clock() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns the sim clock every rewritten call in this loader reads.

close() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

close() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

close() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

DcMotorImpl.close: floats the port (zero power, FLOAT).

close() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

close() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

DcMotorImpl.close: floats the motor (zero power, FLOAT).

close() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Writer

closestApproachInches(double, double, double) - Method in class org.horizon36596.simloop.viz.ShotArc

How close this arc comes to a point, measured to the nearest point on any segment.

closestPoint(double, double, double) - Method in class org.horizon36596.simloop.field.OrientedBox

The point of this box nearest (x, y, z): the point itself when it is inside.

coefficients - Variable in class org.horizon36596.simloop.fit.LeastSquares.Solution

The best-fit x, one entry per column of A.

ColorCounts - Class in org.horizon36596.simloop.fakehardware

What a colour sensor's photodiodes measure: one raw count per channel, the numbers the chip puts in its light-sensor data registers before any driver arithmetic.

ColorCounts(int, int, int) - Constructor for class org.horizon36596.simloop.fakehardware.ColorCounts

One reading's three raw counts.

ColorProbe - Class in org.horizon36596.simloop.sensor

Binds a colour sensor to the simulated field: finds the game piece in front of a SensorMount and makes a FakeRevColorSensorV3 see that piece's colour at that piece's distance.

ColorProbe(SensorMount, double, double, Map<String, ColorCounts>, ColorCounts) - Constructor for class org.horizon36596.simloop.sensor.ColorProbe

A probe looking out of one mount.

ColorProbe.Sighting - Class in org.horizon36596.simloop.sensor

What the probe found: a piece and how far its surface is, or nothing.

colourOfBox(String, boolean) - Method in class org.horizon36596.simloop.vision.FrameStyle

The colour a box is painted: the first prefix (in the order they were added) its name starts with, else the field or robot default.

colourOfPiece(String) - Method in class org.horizon36596.simloop.vision.FrameStyle

The colour a piece is painted.

column(String) - Method in class org.horizon36596.simloop.fit.RlogTimeSeries

Returns a copy of one column.

commandDeadband() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

How far the commanded position has to be from where the horn already sits before the servo bothers to move, in command units of the servo's [0, 1] sweep.

commandQuantum() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

The step size the servo's command is rounded to before it is used, in command units of the [0, 1] sweep.

compare(Path, Path) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

Decodes both RLOG files via PsiKit's RLOGReplay and returns every decoded-field mismatch outside PsiKit's own writer-metadata exclude list, frame by frame.

compare(Path, Path, Set<String>) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

As RlogDecodedCompare.compare(Path, Path), but with a caller-supplied exclude set instead of the PsiKit default.

compareFrames(List<Map<String, String>>, List<Map<String, String>>, Set<String>) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

As RlogDecodedCompare.compare(Path, Path, Set), but on frames that were already decoded.

compose(RigidTransform3) - Method in class org.horizon36596.simloop.vision.RigidTransform3

this * other: if this is T_AB and other is T_BC, the result is T_AC.

conditionNumber - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

The least-squares LeastSquares.Solution.conditionNumber: large means the data barely separates the parameters.

conditionNumber - Variable in class org.horizon36596.simloop.fit.LeastSquares.Solution

How nearly the columns are combinations of each other, after each was scaled to unit length: the largest over the smallest |R[j][j]|.

CONFIRMED_FALSE - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Fact

The caller ran the check and it failed.

CONFIRMED_TRUE - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Fact

The caller ran the check and it passed.

contact(double, double, double, double, double[]) - Method in class org.horizon36596.simloop.field.ConvexShape

Whether a sphere touches this solid, and if so how to push it out.

contactIterations(int) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 3: SET BY HAND.

ContactSwitch - Class in org.horizon36596.simloop.sensor

Binds a touch sensor or limit switch to the simulated field: the switch's actuator is a small rectangle bolted to the robot, and it is pressed while that rectangle touches the perimeter wall, an ObstacleBox, or a game piece that is not held.

ContactSwitch(String, double, double, double, double, double) - Constructor for class org.horizon36596.simloop.sensor.ContactSwitch

Validates and stores one actuator.

ContactSwitch.Contact - Enum Class in org.horizon36596.simloop.sensor

What the actuator is touching.

contains(double, double, double, boolean) - Method in class org.horizon36596.simloop.field.BodyCell

Whether a point, body-local, is inside the cell.

ContinuousRotationSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: the two numbers that describe a degree of freedom which never runs out of travel — a continuous-rotation ejector servo, an intake roller, a flywheel.

control - Variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource.KeyBinding

The GamepadState control it drives: an axis name or a button name.

ConvexShape - Class in org.horizon36596.simloop.field

A solid convex polyhedron a ball can rest on, roll along and bounce off: a convex hull given as its corner points and its triangles.

ConvexShape(String, double[][], int[][]) - Constructor for class org.horizon36596.simloop.field.ConvexShape

Creates a hull and checks that every face points out and the solid is convex.

corners() - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the eight corners, inches, as {x, y, z} rows.

corruptNextBulkRead() - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

Make the next bulk read (the one update() makes) arrive corrupt, as a bad I2C transfer does: every data byte 0xFF - a status and encoder counts of -1, and NaN for every pose and velocity float - and, on firmware 3, a CRC byte that does not match.

couldNotBeDetermined(String) - Static method in class org.horizon36596.simloop.loop.Gate.LastBest

The caller should have had a last-best and could not produce one — an unreadable store, a failed deserialize, a lost file.

coulombFrictionPower - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Model

Power fraction lost to sliding (Coulomb) friction when moving; 0 means none, which is what the sim assumes.

countFrames(Path) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

How many frames one RLOG holds, read without rendering or keeping any of them.

countsFor(String) - Method in class org.horizon36596.simloop.sensor.ColorProbe

The counts a kind of piece reads as.

covariance - Variable in class org.horizon36596.simloop.fit.LeastSquares.Solution

The coefficients' covariance matrix, s^2 (R^T R)^-1 in the coefficients' own units: covariance[i][i] is standardErrors[i] squared, and the off-diagonal entries say how the errors in two coefficients move together - needed to put an error on a quantity computed from several of them.

cross(RobotVector3) - Method in class org.horizon36596.simloop.viz.RobotVector3

Vector (cross) product this × other, right-handed.

current() - Method in class org.horizon36596.simloop.sim.live.GamepadInputGate

Returns the gamepads for the tick that is running now.

currentTimeMillis() - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces System.currentTimeMillis().

D

DARK - Static variable in class org.horizon36596.simloop.fakehardware.ColorCounts

No light on any channel.

decode(Path) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

Every frame of one RLOG, in order, each as its decoded key -> value map (values rendered the way PsiKit renders them: "12.5", "true", "HOLDING").

decodedKeys(Path) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

Every field key that appears anywhere in one RLOG, sorted, minus PsiKit's own writer metadata.

DEFAULT_FIRMWARE_VERSION - Static variable in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

The firmware version a new fake reports.

DEFAULT_MIN_VISIBLE_FRACTION - Static variable in class org.horizon36596.simloop.vision.SimCamera

The visible fraction a piece needs, by default, to be reported when occluders are given: half.

DEFAULT_SIGNAL_PROCESS_CONFIG - Static variable in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

What the signal-process register holds before robot code writes it, as SignalProcessConfig's packed byte.

DEFAULT_STUCK_TIMEOUT_MILLIS - Static variable in class org.horizon36596.simloop.opmode.OpModeRunner

The default for OpModeRunner.stuckTimeoutMillis(int): how long, in milliseconds of real time, an OpMode may run within one tick before the run is failed as stuck.

DEFAULT_TEAM_PACKAGES - Static variable in class org.horizon36596.simloop.simclock.SimClockLoader

The packages rewritten when a test names none: the FTC TeamCode package and SolversLib, which many teams vendor as source into TeamCode and whose Timing and WaitCommand read the wall clock.

DEFAULT_TICK_SECONDS - Static variable in class org.horizon36596.simloop.opmode.OpModeRunner

The default tick, in seconds: 50 Hz, about what a real FTC control loop manages.

DEFAULT_TICKS_PER_MM - Static variable in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

The goBILDA 4-bar odometry pod's resolution, ticks per millimetre.

defaultPieceMass(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 1: the mass of any kind not given one with GamePiecePhysicsConfig.Builder.pieceMass(java.lang.String, double), in the season's unit.

defaults() - Static method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the foam-ball defaults documented on each builder setter.

defaults() - Static method in class org.horizon36596.simloop.vision.FrameStyle

Returns the default style: grey tiles, grey structures, a dark robot, light grey pieces.

deleteSnapshot(String) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

deleteSnapshots() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

descendingOnly(boolean) - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

Only a piece moving downward (vz < 0) scores.

description() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns what this candidate changed, in its own words.

description() - Method in class org.horizon36596.simloop.loop.Objective.Budget

The budget in the human's words.

detail() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

Why this clause came out the way it did, in words, naming the specific term or number.

DEVICE_ID - Static variable in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

What the DEVICE_ID register reports.

DID_NOT_REPRODUCE - Enum constant in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Replayed, and the decoded fields differed.

direction() - Method in class org.horizon36596.simloop.loop.Objective

Which way the raw metric points.

direction() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns which way the objective's raw metric points.

distortion(double, double, double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Lens distortion, OpenCV's model and order (see CameraLens): pass the coefficients of a real calibration to put tag corners where that lens puts them.

distortNormalized(double, double) - Method in class org.horizon36596.simloop.vision.CameraLens

The distortion model on its own: undistorted normalised image coordinates in, distorted ones out.

doInitialize() - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

The one driver hook overridden.

dot(RobotVector3) - Method in class org.horizon36596.simloop.viz.RobotVector3

Scalar (dot) product with other.

drive(FakeDigitalChannel, boolean) - Method in enum class org.horizon36596.simloop.fakehardware.SwitchPolarity

Puts the level for pressed on channel's wire, through the sim-only FakeDigitalChannel.setSimulatedInputState(boolean).

driveMotorNames() - Method in interface org.horizon36596.simloop.config.SimRobotConfig

Returns the drive motor config names, in [frontLeft, frontRight, backLeft, backRight] order.

drivenGamepad() - Method in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

Returns 1 or 2: the gamepad the keys are driving now.

DRIVER_POLL_SECONDS - Static variable in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

How long the SDK driver sleeps between polls of the calibration register, seconds.

drivetrain() - Method in interface org.horizon36596.simloop.config.SimRobotConfig

Returns the drivetrain geometry and motor-model constants for this season.

DrivetrainSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: drivetrain geometry + motor-model + field-bound constants the core plant needs, supplied by the season layer in TeamCode.

dropout(int, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Misses each visible tag in a frame with this probability, seeded.

E

eachTick(ScenarioRunner.ScenarioBody) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Adds world behaviour that the fake devices do not model themselves, such as a drive plant turning wheel speeds into a pose.

eject(int, String, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Release a held piece back onto the field floor at a position the caller states, at rest, leaving it PossessionState.LOOSE and acquirable again.

elapsedRealtime() - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces Android's SystemClock.elapsedRealtime(): the same reading as SimClockHooks.uptimeMillis(), since a sim never sleeps.

elapsedRealtimeNanos() - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces Android's SystemClock.elapsedRealtimeNanos().

emittedMilestone() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

Returns true when this decision emitted a milestone.

empty() - Static method in class org.horizon36596.simloop.vision.AprilTagLayout

Returns a layout with no tags: a camera given it never sees anything.

enableWriteCoalescing(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

END_SESSION_KEY - Static variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

Pressed: the session ends after the loop that is running.

endedAtTick() - Method in class org.horizon36596.simloop.opmode.OpModeRunResult

Returns the tick, counting from 0 at INIT, on which the OpMode finished early, or -1 if it did not.

endedBeforeStop() - Method in class org.horizon36596.simloop.opmode.OpModeRunResult

Returns true if the OpMode finished before STOP was pressed.

ENVELOPE_HOLDS - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

No guardrail violated, and none left unchecked.

ENVELOPE_VIOLATION_PENALTY - Static variable in interface org.horizon36596.simloop.loop.Guardrail

The penalty applied to a violated envelope term.

EnvelopeGuardrails - Class in org.horizon36596.simloop.loop

The seven starter envelope terms from docs/process/scorer-interface.md §3, sorted carefully into the ones a run's log can actually answer and the ones it cannot.

equals(Object) - Method in class org.horizon36596.simloop.fakehardware.ColorCounts

equals(Object) - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Frame

equals(Object) - Method in class org.horizon36596.simloop.sim.live.GamepadState

evaluate(RunResult) - Method in interface org.horizon36596.simloop.loop.Guardrail

Checks one finished run.

EXCLUDED_KEYS - Static variable in class org.horizon36596.simloop.sim.RlogDecodedCompare

PsiKit's own writer-thread metadata: real-time queue depth and a startup console line.

expectedFrameCount() - Method in class org.horizon36596.simloop.loop.RunResult

How many frames the scenario was told to produce, known before the run.

explain() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

The verdict as a block of text, one line per clause, for a milestone report or a console.

F

FACING_AWAY - Enum constant in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

The camera is behind the tag's face, edge-on to it, or past the maximum incidence angle.

factory(FakeTimer) - Static method in class org.horizon36596.simloop.sim.SimElapsedTime

A factory of fresh sim timers - the sim-side value for team code that makes its timers through a Supplier<ElapsedTime>.

facts() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns the two facts no log carries: tests-green and review-passed.

FAILED - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

Checked, and not satisfied.

failOnOpModeThreads(boolean) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Makes a thread the OpMode starts itself fail the run, instead of only being reported in OpModeRunResult.warnings() (the default).

FakeAnalogInput - Class in org.horizon36596.simloop.fakehardware

Fake AnalogInput returning a settable voltage, so the unchanged SolversLib AbsoluteAnalogEncoder wrapper (which reads getVoltage() / getMaxVoltage()) resolves headless.

FakeAnalogInput() - Constructor for class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Creates an input reading 0.0 V on a 3.3 V range, the common FTC analog sensor wiring.

FakeAnalogInput(double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Creates an input reading a chosen voltage on a chosen range.

FakeCRServo - Class in org.horizon36596.simloop.fakehardware

Fake CRServo: a continuous-rotation servo, the kind of actuator that spins a roller or a wheel for as long as it is told to.

FakeCRServo() - Constructor for class org.horizon36596.simloop.fakehardware.FakeCRServo

Creates a servo sitting at neutral, so it does not turn until something commands it.

FakeDevice - Interface in org.horizon36596.simloop.fakehardware

A simulated hardware device with a kinematic plant.

FakeDigitalChannel - Class in org.horizon36596.simloop.fakehardware

Fake DigitalChannel: the one digital IO pin on a REV hub that a beam-break sensor, a limit switch or a signal LED is wired to.

FakeDigitalChannel() - Constructor for class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

A channel that starts in INPUT mode reading false.

FakeDistanceSensor - Class in org.horizon36596.simloop.fakehardware

Fake DistanceSensor modelled on the REV 2m Distance Sensor (a VL53L0X time-of-flight chip).

FakeDistanceSensor() - Constructor for class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

A REV 2m Distance Sensor: FakeDistanceSensor.REV_2M_MAX_RANGE_MM range, FakeDistanceSensor.REV_2M_NO_TARGET_MM when nothing is in range.

FakeDistanceSensor(double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

A range sensor with its own range and its own "nothing in range" reading.

FakeExternalEncoder - Class in org.horizon36596.simloop.fakehardware

Fake external encoder: the plant → sensor → subsystem seam for a 1-DOF mechanism.

FakeExternalEncoder(double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Builds an encoder reading zero ticks at zero velocity.

FakeGoBildaPinpoint - Class in org.horizon36596.simloop.fakehardware

Headless fake of the goBILDA Pinpoint odometry computer, for SimLoop users whose robots use one.

FakeGoBildaPinpoint() - Constructor for class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

A Pinpoint at the origin, READY, reporting FakeGoBildaPinpoint.DEFAULT_FIRMWARE_VERSION.

FakeGoBildaPinpoint(int) - Constructor for class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

A Pinpoint at the origin, READY, reporting the given firmware version.

FakeHardwareMap - Class in org.horizon36596.simloop.fakehardware

JVM-constructible HardwareMap that resolves fake devices by config name.

FakeHardwareMap() - Constructor for class org.horizon36596.simloop.fakehardware.FakeHardwareMap

Creates an empty map; register each fake device with FakeHardwareMap.register(String, HardwareDevice).

FakeI2cDeviceSynchSimple - Class in org.horizon36596.simloop.fakehardware

Fake I2cDeviceSynchSimple (the I2C bus client) that an I2cDeviceSynchDevice subclass holds as its deviceClient.

FakeI2cDeviceSynchSimple() - Constructor for class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

Creates a bus client at I2C address zero, with write coalescing and logging off.

FakeImu - Class in org.horizon36596.simloop.fakehardware

Fake of the SDK's universal IMU — the interface a team gets back from hardwareMap.get(IMU.class, "imu") on a Control Hub or Expansion Hub — driven by the drive plant's heading.

FakeImu() - Constructor for class org.horizon36596.simloop.fakehardware.FakeImu

Builds an IMU physically mounted the way the SDK assumes by default: hub logo UP, USB ports FORWARD.

FakeImu(ImuOrientationOnRobot) - Constructor for class org.horizon36596.simloop.fakehardware.FakeImu

Builds an IMU physically mounted as physicalMounting on the simulated chassis — usually a RevHubOrientationOnRobot, exactly as a team would write it in its own IMU.Parameters.

FakeLimelight3A - Class in org.horizon36596.simloop.fakehardware

A Limelight 3A for the sim: the SDK 12.0 Limelight3A, looked up with hardwareMap.get(Limelight3A.class, "limelight"), that sees AprilTags from a team-supplied AprilTagLayout instead of over USB.

FakeLimelight3A.Builder - Class in org.horizon36596.simloop.fakehardware

Configures a FakeLimelight3A.

FakeMotor - Class in org.horizon36596.simloop.fakehardware

First-order drive-motor plant, seeded from PsiKit's test FakeMotor, behind the REV hub's motor controller.

FakeMotor(double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeMotor

A motor with the default encoder resolution and the default current figures.

FakeMotor(double, double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeMotor

A motor with a stated encoder resolution and the default current figures.

FakeMotor(double, double, double, double, double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeMotor

A motor with a stated encoder resolution and stated datasheet current figures.

FakeRevColorSensorV3 - Class in org.horizon36596.simloop.fakehardware

Headless fake of the REV Color Sensor V3.

FakeRevColorSensorV3() - Constructor for class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

A sensor seeing ColorCounts.DARK with nothing in front of it.

FakeServo - Class in org.horizon36596.simloop.fakehardware

Kinematic fake Servo: a commanded position is held instantly (a bare servo has no dynamics worth modelling for the drivetrain sim — mechanism dynamics live in Mechanism1DofPlant).

FakeServo() - Constructor for class org.horizon36596.simloop.fakehardware.FakeServo

Creates a servo commanded to position 0.0, FORWARD, with the full [0, 1] scale range.

FakeSparkFunOTOS - Class in org.horizon36596.simloop.fakehardware

Headless fake of the SparkFun Qwiic Optical Tracking Odometry Sensor (OTOS), for SimLoop users whose robots use one.

FakeSparkFunOTOS() - Constructor for class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

An OTOS at the origin, connected, not calibrating, with no status flags, on the tracking centre facing forward, reading in inches and degrees (the SDK's defaults).

FakeTimer - Class in org.horizon36596.simloop.sim

The single, advanceable simulation clock (fakehardware-plant §6, domain R5).

FakeTimer() - Constructor for class org.horizon36596.simloop.sim.FakeTimer

Creates a clock reading 0.0 seconds.

FakeTouchSensor - Class in org.horizon36596.simloop.fakehardware

Fake TouchSensor: a REV Touch Sensor (or any button the robot configuration calls a "REV Touch Sensor") that the sim presses and releases.

FakeTouchSensor() - Constructor for class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Creates a released sensor with no source; press it with FakeTouchSensor.setPressed(boolean).

FakeVoltageSensor - Class in org.horizon36596.simloop.fakehardware

Fake VoltageSensor returning a fixed nominal battery voltage (default 12 V).

FakeVoltageSensor() - Constructor for class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Creates a sensor holding the nominal 12.0 volts.

FakeVoltageSensor(double) - Constructor for class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Creates a sensor holding a chosen voltage.

family(String) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

The tag family string each fiducial reports (getFamily()).

field(List<ObstacleBox>) - Static method in class org.horizon36596.simloop.vision.CameraOccluders

Field boxes only.

FieldFrameTransform - Class in org.horizon36596.simloop.field

The one and only place the localizer ↔ field frame rotation is written.

fieldHalfHeight() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Half the field's forward-back extent, along field Y (+Y is field forward), in inches.

fieldHalfWidth() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Half the field's right-left extent, along field X (+X is field right), in inches.

fieldHeadingFromLocalizer(double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Field heading from a localizer-frame heading.

fieldPose3d(double, double, double) - Method in class org.horizon36596.simloop.vision.SimCamera

The camera's pose in the field, for AdvantageScope.

FieldWorld - Class in org.horizon36596.simloop.field

Everything fixed about the field that a game piece can touch: the perimeter wall, the solid obstacles, the goals, the rigid structures pieces collide with and rest in, the robot's own footprint, and the physics numbers.

FieldWorld.Builder - Class in org.horizon36596.simloop.field

One named setter per fact.

fieldXFromLocalizer(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Field X (field right) from a localizer-frame position.

fieldYFromLocalizer(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Field Y (field forward) from a localizer-frame position.

finalTimeSeconds() - Method in class org.horizon36596.simloop.opmode.OpModeRunResult

Returns the sim clock's reading when the run finished, in seconds.

finalValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The value under key in the run's last frame.

findCell(String) - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the body cell of that name, or null when no body has one.

findCellOwner(String) - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the body that owns the cell of that name, or null when no body has one.

fire(ShotArc, double, double, double) - Method in class org.horizon36596.simloop.viz.ShotArcRecorder

Starts a new shot in the next slot, replacing whatever was there.

FIRMWARE_VERSION - Static variable in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

What the firmware-version register reports, as Version's packed byte.

FIRST_ACCEPTED_CANDIDATE - Enum constant in enum class org.horizon36596.simloop.loop.Milestone.Reason

The first answer the gate accepted, when the loop's baseline had not passed the gate.

firstCandidateOfRun() - Static method in class org.horizon36596.simloop.loop.Gate.LastBest

No candidate has been accepted yet, so there is genuinely nothing to improve on.

FirstOrderFit - Class in org.horizon36596.simloop.fit

Fits a first-order velocity plant - the model SimLoop's FakeMotor and drivetrain already step - to a logged record of applied power and measured velocity, by least squares.

FirstOrderFit.Model - Class in org.horizon36596.simloop.fit

A first-order plant: what the fit produces, and what the sim's own parameters describe.

FirstOrderFit.Result - Class in org.horizon36596.simloop.fit

What one fit found, and how well.

FirstOrderFit.Samples - Class in org.horizon36596.simloop.fit

A logged record for one axis: time, the power applied, the velocity measured, and the battery.

fit - Variable in class org.horizon36596.simloop.fit.GapReport.Quantity

The fit to the real log.

fit(FirstOrderFit.Samples, double, double, boolean) - Static method in class org.horizon36596.simloop.fit.FirstOrderFit

Fit one axis.

fixed(String, int, RobotVector3) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel.Builder

Adds a component that rides on its parent without moving relative to it.

FIXED - Enum constant in enum class org.horizon36596.simloop.viz.ArticulatedRobotModel.JointType

Rides along with its parent and never moves relative to it.

fixedTickCount(int) - Static method in class org.horizon36596.simloop.sim.ScenarioRunner

A gate that runs exactly ticks ticks, which is what ScenarioRunner.run(java.lang.String, org.horizon36596.simloop.config.SimRobotConfig, org.horizon36596.simloop.sim.FakeTimer, int, double, java.nio.file.Path, org.horizon36596.simloop.sim.ScenarioRunner.ScenarioBody) uses.

floor(int, double, int, double) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

The floor.

FLOOR - Enum constant in enum class org.horizon36596.simloop.sensor.RangeHit.Target

The floor tiles, for a sensor tilted down.

FootprintContact - Class in org.horizon36596.simloop.field

Whether the robot's rectangular footprint overlaps a field structure, and the shortest move that would take it back out.

FootprintContact.Push - Class in org.horizon36596.simloop.field

The shortest move that takes the footprint out of one box.

forceFault(GoBildaPinpointDriver.DeviceStatus) - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

Make the device report this status, as if it had the fault.

forceStatus(SparkFunOTOS.Status) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Make the status register report these flags, as if the sensor had the fault, until FakeSparkFunOTOS.clearForcedStatus().

forEachFrame(Path, Consumer<Map<String, String>>) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

Every frame of one RLOG, in order, handed to visitor one at a time and then dropped: the same maps RlogDecodedCompare.decode(Path) returns, without holding them all.

FORMAT_LINE - Static variable in class org.horizon36596.simloop.sim.live.GamepadInputTrack

The first line of every track.

FORMAT_NUMBER - Static variable in class org.horizon36596.simloop.sim.live.GamepadInputTrack

The only format number this code reads and writes.

FORMAT_PREFIX - Static variable in class org.horizon36596.simloop.sim.live.GamepadInputTrack

The first line of every track, up to its format number.

formatLine(GamepadInputTrack.Frame) - Static method in class org.horizon36596.simloop.sim.live.GamepadInputTrack

Returns one frame as its track line, e.g. 12 | g1 left_stick_y=-1.0 a | g2.

forTeamClass(Class<? extends OpMode>, FakeHardwareMap) - Static method in class org.horizon36596.simloop.opmode.OpModeRunner

As OpModeRunner.forTeamClass(String, FakeHardwareMap), naming the class by its literal.

forTeamClass(String, FakeHardwareMap) - Static method in class org.horizon36596.simloop.opmode.OpModeRunner

Prepares a run of the team's OpMode class className, built at the start of the run inside a fresh SimClockLoader, so its unchanged ElapsedTimes, System.nanoTime() and System.currentTimeMillis() read the sim clock, and its Thread.sleep, sleep(ms) (any duration, computed or not) and idle() wait in sim time.

forwardInches - Variable in class org.horizon36596.simloop.vision.RobotFramePoint

Distance ahead of the robot centre, inches; negative is behind.

forwardInverseKinematicsRoundTrip() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: the drivetrain's FK/IK round-trip holds.

Frame(int, GamepadState, GamepadState) - Constructor for class org.horizon36596.simloop.sim.live.GamepadInputTrack.Frame

Both gamepads' states on one loop.

frameCount() - Method in class org.horizon36596.simloop.loop.RunResult

How many frames actually decoded.

frameIndex - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

Which frame differed, counting from 0; -1 when the two runs had different frame counts.

frameRateHz(double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

How often the camera captures, in sim time.

frames() - Method in class org.horizon36596.simloop.loop.RunResult

Every decoded frame, in order, each as key -> rendered value.

frames() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack

Returns every loop, in order; frame i is tick i.

FrameStyle - Class in org.horizon36596.simloop.vision

The flat colours and the one light a SimFrameRenderer paints a scene with.

FrameStyle.Builder - Class in org.horizon36596.simloop.vision

Collects a FrameStyle.

framesWritten() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Writer

Returns how many loops have been written.

freeSpeed - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Model

Velocity at full power and nominal voltage, in the velocity's own units (e.g.

freeSpeedStandardError - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

One standard error on FirstOrderFit.Model.freeSpeed, velocity units.

frictionFitted - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Whether friction was fitted; false means it was held at zero, as the sim assumes.

frictionStandardError - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

One standard error on FirstOrderFit.Model.coulombFrictionPower, power fraction; NaN if not fitted.

fromAxes(double[], double[], double[], double, double, double) - Static method in class org.horizon36596.simloop.vision.RigidTransform3

A transform from a rotation given as the three axes of the child frame, written in the parent frame, and a translation.

fromHorizontalFov(double, int, int) - Static method in class org.horizon36596.simloop.vision.CameraLens

A square-pixel lens from its horizontal field of view, principal point at the image centre, no distortion — the way a datasheet describes a webcam: fx = fy = (width / 2) / tan(hfov / 2).

fromLocalDirection(double, double, double) - Method in class org.horizon36596.simloop.field.OrientedBox

Returns a direction given in this box's own axes, in the box's frame.

fromRlog(String, Path, int) - Static method in class org.horizon36596.simloop.loop.RunResult

Reads a finished run off disk.

fromRollPitchYaw(double, double, double, double, double, double) - Static method in class org.horizon36596.simloop.vision.RigidTransform3

A transform from a translation and roll, pitch, yaw in the order this class decomposes them (R = Rz(yaw) * Ry(pitch) * Rx(roll)).

front(double, double, double) - Static method in class org.horizon36596.simloop.vision.CameraMount

A forward-facing camera on the robot's centreline: a common mount, one call to describe.

G

gain(double) - Method in class org.horizon36596.simloop.vision.SimFrameRenderer.Builder

Multiplies every pixel before noise and clamping: above 1 is a brighter exposure.

gamepad1 - Variable in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Frame

What gamepad 1 (the driver) read on this loop.

gamepad2 - Variable in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Frame

What gamepad 2 (the operator) read on this loop.

GamepadInputGate - Class in org.horizon36596.simloop.sim.live

Runs a scenario for as long as a GamepadInputSource has input, and hands each tick's gamepads to the scenario body.

GamepadInputGate(GamepadInputSource) - Constructor for class org.horizon36596.simloop.sim.live.GamepadInputGate

A gate that runs a tick whenever the source has a frame for it.

GamepadInputSource - Interface in org.horizon36596.simloop.sim.live

Where a session's gamepad input comes from, one loop at a time: a person at a keyboard (KeyboardGamepadSource), a recorded track (GamepadInputTrack.replay()), or a test's script.

GamepadInputTrack - Class in org.horizon36596.simloop.sim.live

A recorded driving session: what both gamepads read on every sim loop, one plain-text line per loop.

GamepadInputTrack.Frame - Class in org.horizon36596.simloop.sim.live

Both gamepads on one loop.

GamepadInputTrack.Writer - Class in org.horizon36596.simloop.sim.live

Writes a track one line at a time, flushing after every line, so a session that ends abruptly - the window closed, the process killed - still leaves every loop it ran on disk.

gamepads(GamepadScript) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Sets what the drivers do.

GamepadScript - Interface in org.horizon36596.simloop.opmode

What the drivers do with their gamepads, tick by tick.

GamepadState - Class in org.horizon36596.simloop.sim.live

Everything one FTC gamepad reports on one loop, as a plain value: which buttons are down and where every stick, trigger and touchpad finger is.

GamePiece - Class in org.horizon36596.simloop.field

One game piece in the sim: a ball of some kind, at a field position in inches, moving at some velocity, in exactly one PossessionState.

GamePiecePhysicsConfig - Class in org.horizon36596.simloop.field

The numbers that govern how loose and in-flight game pieces move: gravity, how bouncy each kind of contact is, how quickly a rolling piece slows down, and how finely a sim tick is sub-stepped.

GamePiecePhysicsConfig.Builder - Class in org.horizon36596.simloop.field

Builder with one named setter per number, each documented with its default's provenance.

GamePieceTracker - Class in org.horizon36596.simloop.field

The one place a game piece changes hands or moves.

GamePieceTracker(int) - Constructor for class org.horizon36596.simloop.field.GamePieceTracker

Builds a tracker over an unbounded world: no walls, no obstacles, no goals, no robot footprint, default physics.

GamePieceTracker(int, FieldWorld) - Constructor for class org.horizon36596.simloop.field.GamePieceTracker

Builds a tracker over the given world.

GapReport - Class in org.horizon36596.simloop.fit

The sim-versus-real gap report: for each fitted quantity, what the real log says, what the sim's own parameters say, and how far apart they are, written as one markdown page beside the RLOG it came from.

GapReport(String, Path, String) - Constructor for class org.horizon36596.simloop.fit.GapReport

An empty report; add quantities and notes, then write it.

GapReport.Quantity - Class in org.horizon36596.simloop.fit

One fitted quantity: a drivetrain axis, a flywheel, anything that is a first-order velocity plant.

Gate - Class in org.horizon36596.simloop.loop

The acceptance gate: the one place that decides whether a candidate run is allowed to become the new last-best (`docs/process/scorer-interface.md` §6).

Gate() - Constructor for class org.horizon36596.simloop.loop.Gate

Creates a gate.

Gate.Clause - Enum Class in org.horizon36596.simloop.loop

The four §6 clauses, in the order a verdict reports them.

Gate.ClauseResult - Class in org.horizon36596.simloop.loop

One clause's outcome plus the sentence explaining it, for the verdict a human reads.

Gate.Fact - Enum Class in org.horizon36596.simloop.loop

A fact the gate is told rather than measures.

Gate.LastBest - Class in org.horizon36596.simloop.loop

What the caller knows about the current last-best score.

Gate.Outcome - Enum Class in org.horizon36596.simloop.loop

How one clause came out.

Gate.SuppliedFacts - Class in org.horizon36596.simloop.loop

The two facts that are not in any log: whether the tests passed, and whether an independent review approved the change.

Gate.Verdict - Class in org.horizon36596.simloop.loop

The gate's answer: accepted or not, plus every clause and why.

getAimElevationRadians() - Method in class org.horizon36596.simloop.viz.TurretSketch

The aim direction's elevation: the direction the last joint above the turret points, measured in the turret's own vertical plane from the turret's facing (TurretSketchDefinition.getFacingHeadingRadians(), turned by the yaw) toward straight up.

getAimFieldXInches() - Method in class org.horizon36596.simloop.viz.TurretSketch

The aim point's field X: the tip of the chain above the turret (the yaw arm's own tip for a bare turret).

getAimFieldYInches() - Method in class org.horizon36596.simloop.viz.TurretSketch

Returns the aim point's field Y, in inches; see TurretSketch.getAimFieldXInches().

getAimFieldZInches() - Method in class org.horizon36596.simloop.viz.TurretSketch

Returns the aim point's height above the floor, in inches.

getAimHeadingRadians() - Method in class org.horizon36596.simloop.viz.TurretSketch

Returns the aim direction's heading: the ghost's, radians CCW in the field frame.

getAirDragPerInch() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Quadratic air-drag coefficient k in 1/inch: an in-flight piece decelerates by k * speed^2 along its direction of travel.

getAmbient() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the ambient share of a surface's colour, 0 to 1.

getAngularDampingPerSecond() - Method in class org.horizon36596.simloop.field.HingeDynamics

Returns the angular damping, per second.

getAppliedPhysicalPower() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The power actually reaching the windings, in [-1, 1], PHYSICAL direction (see the class javadoc's two accessor pairs).

getAreaPercent() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns the area of the tag's image quadrilateral as a percentage of the whole image, 0 to 100.

getArmLengthInches() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Distance from the pivot to the segment's tip (in).

getAxis() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the unit turning axis, field frame, {x, y, z}, a copy.

getBackground() - Method in class org.horizon36596.simloop.sensor.ColorProbe

Returns what the sensor reads with no piece in view.

getBackgroundColorHex() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Canvas background.

getBackgroundColorHex() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

Returns the ride-along canvas background, "#RRGGBB".

getBackgroundRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the colour of a ray that hits nothing, 0xRRGGBB.

getBlue() - Method in class org.horizon36596.simloop.fakehardware.ColorCounts

Returns the blue channel's raw count, unitless, 0..65535.

getBodyAngleRad(String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns a body's angle now, radians.

getBodyAngularVelocityRadPerS(String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns a body's turning rate, radians per second: as last set for a kinematic body, as the physics has it for a dynamic one.

getBoundingCentre() - Method in class org.horizon36596.simloop.field.ConvexShape

Returns the centre of that bounding sphere, {x, y, z} inches.

getBoundingRadiusInches() - Method in class org.horizon36596.simloop.field.ConvexShape

Returns the radius, inches, of a sphere about the corners' mean that holds the whole solid.

getBoundingRadiusInches() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the radius, inches, of a sphere about the pivot that holds every shape at any angle.

getBoxRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the colour of a field box no prefix matches, 0xRRGGBB.

getCalDefault() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

getCalEEPROM() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

getCalFile() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

getCalLatest() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

getCameraToTag() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns the tag's frame in the optical frame, T_camera_tag, inches.

getCanvasHeightInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Canvas height.

getCanvasHeightInches() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

Returns the ride-along canvas height, in inches.

getCanvasHorizontalAxis() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Unit robot-local direction drawn as canvas +X (to the right of the picture).

getCanvasVerticalAxis() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Unit robot-local direction drawn as canvas +Y (up the picture).

getCanvasWidthInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Canvas width.

getCanvasWidthInches() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

Returns the ride-along canvas width, in inches; it must hold the chain above the turret.

getCaptionValueSeparator() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

getCells() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the cells, body-local, in declaration order.

getCentreOfMassLocal() - Method in class org.horizon36596.simloop.field.HingeDynamics

Returns the body's centre of mass, body-local frame, inches, {x, y, z}, a copy.

getCentreX() - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the centre's x, inches.

getCentreXPx() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns principal point x, pixels from the left edge.

getCentreXPx() - Method in class org.horizon36596.simloop.vision.CameraSighting

Returns the piece centre's image x, pixels from the left edge; may lie outside the image if clipped.

getCentreXPx() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns the tag centre's image x, pixels from the left edge.

getCentreY() - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the centre's y, inches.

getCentreYPx() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns principal point y, pixels from the top edge.

getCentreYPx() - Method in class org.horizon36596.simloop.vision.CameraSighting

Returns the piece centre's image y, pixels from the top edge; may lie outside the image if clipped.

getCentreYPx() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns the tag centre's image y, pixels from the top edge.

getCentreZ() - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the centre's z, inches.

getColorHex() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns the stroke colour, "#RRGGBB", upper-case.

getColouredKinds() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the piece kinds that have their own colour, in the order added.

getCommandedPosition() - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

The position the servo is currently commanding, in mechanism units, clamped to the end stops.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

The controller's connection info plus "; port N", in CRServoImpl's format.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

The controller's connection info plus "; digital port N", in DigitalChannelImpl's format.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

The controller's connection info plus "; port N", in DcMotorImpl's format.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns "sim"; the SDK prints a USB serial number the fake does not have.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The controller's connection info plus "; port N", in DcMotorImpl's format.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

The controller's connection info plus "; port N", in ServoImpl's format.

getConnectionInfo() - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Returns the controller's connection info plus "; digital channel N", in RevTouchSensor's format.

getContactIterations() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns how many times each sub-step's 3-D contacts are resolved, at least 1.

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getController() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

getCornersPx() - Method in class org.horizon36596.simloop.vision.TagSighting

The four corners of the tag square in the image, pixels, in the order top-left, top-right, bottom-right, bottom-left as the camera sees them.

getCurrent(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Always zero: there is no motor on this port drawing current.

getCurrent(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Modelled current draw.

getCurrentAlert(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Returns the stored over-current threshold, converted into unit.

getCurrentAlert(CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getCurrentPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

The count since the last STOP_AND_RESET_ENCODER, in encoder ticks, truncated to an int like a real count; negated for a REVERSE handle (SDK contract).

getCurrentPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

SDK-reported encoder position in ticks: direction applied on read, so a REVERSE motor commanded positive power reports positive, matching real DcMotorEx.

getDefaultPieceMass() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the mass of a piece whose kind has no mass of its own, in the season's mass unit.

getDefinition() - Method in class org.horizon36596.simloop.viz.MechanismSketch

Returns what this sketch was built from.

getDefinition() - Method in class org.horizon36596.simloop.viz.TurretSketch

Returns what this sketch was built from.

getDepthInches() - Method in class org.horizon36596.simloop.field.FootprintContact.Push

Returns how deep the footprint was inside the box along the push direction, inches (> 0).

getDepthInches() - Method in class org.horizon36596.simloop.field.RobotContact

Returns how deep the part was in, inches.

getDepthInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the full extent along robot forward, inches.

getDepthInches() - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Returns the actuator's full extent along robot forward, inches.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

"Continuous Rotation Servo", the string CRServoImpl.getDeviceName reads out of the SDK.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

"Digital Device", the string DigitalChannelImpl.getDeviceName reads out of the SDK.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Returns "REV 2M ToF Distance Sensor", the string Rev2mDistanceSensor.getDeviceName returns.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

"Motor": a real robot configures an encoder-only port as a motor, so the SDK names it one.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

"Motor", the string DcMotorImpl.getDeviceName reads out of the SDK's resources.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

"Servo", the string ServoImpl.getDeviceName reads out of the SDK's resources.

getDeviceName() - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Returns "REV Touch Sensor", the string RevTouchSensor.getDeviceName returns.

getDiffuse() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the share a surface facing the light gets on top of ambient, 0 to 1.

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getDirection() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

getDistance(DistanceUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

The distance the sensor reports: the true distance rounded to whole millimetres, or the out-of-range reading when nothing is within range, converted the way the SDK's VL53L0X driver converts it (see the class javadoc).

getDistanceInches() - Method in class org.horizon36596.simloop.sensor.RangeHit

Returns how far from the sensor face the hit was, inches; +infinity for a miss, 0 if the face is inside the target.

getDistanceInches() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns the distance from the parent origin to the child origin, inches.

getDistortionCoefficients() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns the five coefficients in OpenCV's order, {k1, k2, p1, p2, k3}, as a fresh array.

getDof(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

The plant moving one named degree of freedom, for a caller that needs to read more than MultiDofMechanismPlant.getPosition(String) and MultiDofMechanismPlant.getVelocity(String) give it.

getDofCount() - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Returns how many degrees of freedom this mechanism has.

getDofNames() - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Returns every degree of freedom's name, in registration order.

getDrawnAngleDegrees(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

The joint's drawn angle, relative to the joint below it (AdvantageScope's convention).

getDrawnLengthInches(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

The joint's currently drawn length (in): a stage's retracted length plus its clamped extension, or a pivot's constant arm length.

getDrawnLengthMetres(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

The same joint length as MechanismSketch.getDrawnLengthInches(String), read in the metres it is stored in — so the value MechanismSketch.record(String) will hand to AdvantageScope, before this class converts it back for callers.

getDxInches() - Method in class org.horizon36596.simloop.field.FootprintContact.Push

Returns how far to move the robot centre along field X, inches.

getDyInches() - Method in class org.horizon36596.simloop.field.FootprintContact.Push

Returns how far to move the robot centre along field Y, inches.

getExternalTorqueFraction() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns the outside torque on the shaft, a signed fraction of stall torque, physical direction; 0 by default.

getFaceNormal() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns the unit vector the printed face points along, field frame, {x, y, z}, a fresh copy.

getFacingHeadingRadians() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

Which way the turret faces at yaw zero, robot frame, radians CCW from robot forward.

getFacingRad() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns the direction the printed face points, radians CCW from field +X.

getFieldBoxes() - Method in class org.horizon36596.simloop.vision.CameraOccluders

Returns the boxes fixed to the field, field frame, unmodifiable.

getFieldToTag() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

The tag's own frame in the field frame: T_field_tag.

getFieldXInches() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the field position, inches, FTC-Cartesian +X right (see class javadoc for the frame).

getFieldYInches() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the field position, inches, FTC-Cartesian +Y forward (see class javadoc for the frame).

getFieldZInches() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the height of the piece's centre above the floor, inches; equals the radius when resting.

getFloorRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the floor colour, 0xRRGGBB.

getFocalXPx() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns horizontal focal length, pixels.

getFocalYPx() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns vertical focal length, pixels.

getForwardInches() - Method in class org.horizon36596.simloop.sensor.SensorMount

Returns the sensor face's position along robot forward, inches.

getForwardInches() - Method in class org.horizon36596.simloop.vision.CameraMount

Returns the lens position along robot forward, inches.

getForwardOffsetInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the centre of the rectangle along robot forward, inches (+ = toward the front).

getForwardOffsetInches() - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Returns the actuator's centre along robot forward, inches.

getForwardVelocity() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the chassis's forward velocity, robot frame (+ forward), in inches/second.

getForwardVelocity() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the chassis's forward velocity, robot frame (+ forward), in inches/second.

getFrameNumber() - Method in class org.horizon36596.simloop.vision.SimFrame

Returns the renderer's count of frames before this one, from 0: the sensor-noise stream it used.

getFramesRendered() - Method in class org.horizon36596.simloop.vision.SimFrameRenderer

Returns how many frames this renderer has drawn.

getFriction() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the Coulomb friction coefficient between a piece and this body: on every shape not given its own by KinematicBody.withShapeMaterial(java.lang.String, double, double).

getGapInches() - Method in class org.horizon36596.simloop.sensor.ColorProbe.Sighting

Returns the gap from the sensor face to the piece's surface, inches; +infinity with nothing in view.

getGhostFieldHeadingRadians() - Method in class org.horizon36596.simloop.viz.TurretSketch

The ghost's heading: the robot's heading plus the way the turret faces now.

getGhostFieldXInches() - Method in class org.horizon36596.simloop.viz.TurretSketch

The ghost's field X: the yaw axis, moved sideways by the chain's own sideways offset (a Mechanism2d drawn on the ghost's XZ plane has no way to carry one), carried by the robot's pose.

getGhostFieldYInches() - Method in class org.horizon36596.simloop.viz.TurretSketch

Returns the ghost's field Y, in inches; see TurretSketch.getGhostFieldXInches().

getGravityInchesPerS2() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns downward acceleration of an in-flight piece, inches per second squared.

getGreen() - Method in class org.horizon36596.simloop.fakehardware.ColorCounts

Returns the green channel's raw count, unitless, 0..65535.

getHalfFieldOfViewRad() - Method in class org.horizon36596.simloop.sensor.ColorProbe

Returns half the viewing cone, radians.

getHalfLengthInches() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns half the field's extent along Y, inches; meaningless if unbounded.

getHalfWidthInches() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns half the field's extent along X, inches (72 for a 144 in FTC field); meaningless if unbounded.

getHeading() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the heading in radians, CCW-positive, measured from localizer +x; not wrapped, so it grows without bound while the robot keeps turning.

getHeading() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the heading in radians, CCW-positive, measured from localizer +x; not wrapped, so it grows without bound while the robot keeps turning.

getHeadingRad() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the heading, radians CCW from field +X.

getHealthStatus() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getHeightInches() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the height above the floor, inches.

getHeightInches() - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Returns the actuator's height above the floor, inches.

getHeightPx() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns image height, pixels.

getHeightPx() - Method in class org.horizon36596.simloop.vision.SimFrame

Returns the image height, pixels.

getHeldCapacity() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns the most pieces the robot may hold at once, as declared at construction.

getHeldCount() - Method in class org.horizon36596.simloop.field.GamePieceTracker

How many pieces the robot is carrying right now.

getHingeDynamics() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the body's hinge dynamics, or null for a kinematic body the season moves.

getHorizontalFovDegrees() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns the full horizontal field of view of the pinhole part of this lens, degrees.

getI2cAddr() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getI2cAddress() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getId() - Method in class org.horizon36596.simloop.field.GamePiece

Stable identifier, assigned in the order pieces were added (first piece is 0).

getId() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns the tag id, as printed on the tag and reported by a detector.

getId() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns the tag's id.

getInFlightCount() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns how many pieces are airborne right now.

getItemSeparator() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

getJointAngleRadians(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

A revolute joint's current clamped angle (rad), measured from the pose the mechanism is drawn in in CAD.

getJointAxis(int) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns the component's joint axis (unit) with every joint at zero, robot frame; zero for FIXED.

getJointExtensionInches(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

A linear stage's current clamped extension.

getJointOrigin(int) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns the component's joint origin with every joint at zero, robot frame, inches.

getJoints() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Every joint, base first.

getJoints() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

The joints riding on the turret, base first, stated in the robot frame at yaw zero.

getJointType(int) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns the component's joint type.

getK1() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns the first radial distortion coefficient, OpenCV's k1.

getK2() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns the second radial distortion coefficient, OpenCV's k2.

getK3() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns the third radial distortion coefficient, OpenCV's k3.

getKind() - Method in class org.horizon36596.simloop.field.GamePiece

The season's label for what sort of piece this is, e.g.

getKind() - Method in class org.horizon36596.simloop.vision.CameraSighting

Returns the piece's kind label, e.g. "ball" — the class a detector would have to infer.

getKind() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns which of the segment's two drawn numbers this joint moves.

getKind() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

getKind() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

getKinematicBodies() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the rigid structures pieces collide with and rest in, in declaration order.

getKinematicBody(String) - Method in class org.horizon36596.simloop.field.FieldWorld

A body by name.

getLastSightings() - Method in class org.horizon36596.simloop.vision.SimCamera

Returns what SimCamera.observe(java.util.List<org.horizon36596.simloop.field.GamePiece>, double, double, double) last returned; empty before the first call.

getLateralVelocity() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the chassis's sideways velocity, robot frame (+ left), in inches/second.

getLateralVelocity() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the chassis's sideways velocity, robot frame (+ left), in inches/second.

getLatestResult() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

The last polled result.

getLayout() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns the tag layout this fake sees.

getLeftInches() - Method in class org.horizon36596.simloop.sensor.SensorMount

Returns the sensor face's position along robot left, inches.

getLeftInches() - Method in class org.horizon36596.simloop.vision.CameraMount

Returns the lens position along robot left, inches.

getLeftOffsetInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the centre of the rectangle along robot left, inches (+ = toward the left side).

getLeftOffsetInches() - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Returns the actuator's centre along robot left, inches.

getLengthInches() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the full extent along the heading, inches.

getLens() - Method in class org.horizon36596.simloop.vision.SimCamera

Returns the intrinsics.

getLens() - Method in class org.horizon36596.simloop.vision.SimFrameRenderer

Returns the lens frames are drawn through.

getLens() - Method in class org.horizon36596.simloop.vision.SimTagCamera

Returns the intrinsics.

getLightDirection() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the unit vector toward the light, field frame, {x, y, z}, a fresh copy.

getLimitRestitution() - Method in class org.horizon36596.simloop.field.HingeDynamics

Returns the fraction of its velocity into a limit the body keeps, reversed, 0 to 1.

getLinearJoints() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Only the LinearJointDefinition joints, in chain order — the stages that extend.

getLineWeightPixels() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns the stroke thickness in pixels.

getLogging() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getLoggingTag() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getLooseCount() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns how many pieces are on the field floor, available to acquire.

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Returns Lynx, what BHI260IMU reports: the IMU is built into a REV hub.

getManufacturer() - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Returns Lynx, what RevTouchSensor reports: it is read through a REV hub's digital port.

getMass() - Method in class org.horizon36596.simloop.field.HingeDynamics

Returns the body's own mass, in the pieces' mass unit.

getMaxAngleRad() - Method in class org.horizon36596.simloop.field.HingeDynamics

Returns the upper hard limit, radians.

getMaxAngleRadians() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Most positive reachable angle (rad), measured from the zero pose.

getMaxContactTravelInches() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the furthest a piece moves between two tests against a KinematicBody, inches.

getMaxIncidenceDegrees() - Method in class org.horizon36596.simloop.vision.SimTagCamera

Returns the maximum angle off a tag's face normal at which it is still seen, degrees.

getMaxRangeInches() - Method in class org.horizon36596.simloop.sensor.ColorProbe

Returns the largest gap to a piece's surface that still counts as in view, inches.

getMaxRangeInches() - Method in class org.horizon36596.simloop.vision.SimTagCamera

Returns the maximum range, lens to tag centre, inches; may be infinite.

getMaxRangeMm() - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Returns the farthest target the sensor reports, millimetres.

getMaxSubstepSeconds() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

The longest physics sub-step, seconds.

getMaxTotalTravelInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Sum of every linear stage's maxTravelInches — the mechanism's full stroke capacity (in), i.e.

getMaxTravelInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

Returns the highest extension along the travel axis (in).

getMaxValidRadius() - Method in class org.horizon36596.simloop.vision.CameraLens

The normalised image radius (sqrt((X/Z)^2 + (Y/Z)^2)) beyond which the distortion model is not one-to-one, so CameraLens.project(double, double, double) reports nothing there.

getMaxVelocityTicksPerSecond() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns the free speed this motor was built with, in encoder ticks/second.

getMaxVoltage() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Returns the full-scale voltage of the range, in volts.

getMaxX() - Method in class org.horizon36596.simloop.field.BodyCell

Returns the box's upper X bound, inches, body-local.

getMaxXInches() - Method in class org.horizon36596.simloop.field.ObstacleBox

Returns the high X face, field frame, inches.

getMaxXInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the high X face, field frame, inches.

getMaxY() - Method in class org.horizon36596.simloop.field.BodyCell

Returns the box's upper Y bound, inches, body-local.

getMaxYInches() - Method in class org.horizon36596.simloop.field.ObstacleBox

Returns the high Y face, field frame, inches.

getMaxYInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the high Y face, field frame, inches.

getMaxZ() - Method in class org.horizon36596.simloop.field.BodyCell

Returns the box's upper Z bound (the top face), inches, body-local.

getMaxZ() - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the highest point of the box, inches up.

getMaxZ() - Method in class org.horizon36596.simloop.field.RobotShape

Returns the highest point of any part, inches above the floor.

getMaxZInches() - Method in class org.horizon36596.simloop.field.ObstacleBox

Returns the top, inches above the floor.

getMaxZInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the top of the box, inches above the floor.

getMinAngleRad() - Method in class org.horizon36596.simloop.field.HingeDynamics

Returns the lower hard limit, radians.

getMinAngleRadians() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Most negative reachable angle (rad), measured from the zero pose.

getMinRangeInches() - Method in class org.horizon36596.simloop.vision.SimTagCamera

Returns the minimum range, lens to tag centre, inches.

getMinTravelInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

Returns the lowest extension along the travel axis (in).

getMinVisibleFraction() - Method in class org.horizon36596.simloop.vision.SimCamera

Returns the visible fraction a piece needs to be reported by the occluded observe, 0 to 1.

getMinX() - Method in class org.horizon36596.simloop.field.BodyCell

Returns the box's lower X bound, inches, body-local.

getMinXInches() - Method in class org.horizon36596.simloop.field.ObstacleBox

Returns the low X face, field frame, inches.

getMinXInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the low X face, field frame, inches.

getMinY() - Method in class org.horizon36596.simloop.field.BodyCell

Returns the box's lower Y bound, inches, body-local.

getMinYInches() - Method in class org.horizon36596.simloop.field.ObstacleBox

Returns the low Y face, field frame, inches.

getMinYInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the low Y face, field frame, inches.

getMinZ() - Method in class org.horizon36596.simloop.field.BodyCell

Returns the box's lower Z bound, inches, body-local.

getMinZ() - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the lowest point of the box, inches up.

getMinZInches() - Method in class org.horizon36596.simloop.field.ObstacleBox

Returns the bottom, inches above the floor.

getMinZInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the bottom of the box, inches above the floor.

getMode() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

getMode() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getMode() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getMomentOfInertia() - Method in class org.horizon36596.simloop.field.HingeDynamics

Returns the body's moment of inertia about its axis, mass unit times square inches.

getMotorType() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

The motor type configured on this port: the last one passed to FakeExternalEncoder.setMotorType(com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType), or, until something sets one, a type derived from the constructor numbers.

getMotorType() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The motor type configured on this port: the last one passed to FakeMotor.setMotorType(com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType), or, until something sets one, a type derived from this plant's constructor numbers.

getMount() - Method in class org.horizon36596.simloop.sensor.ColorProbe

Returns the mount the probe looks out of.

getMount() - Method in class org.horizon36596.simloop.sensor.RangeFinder

Returns the mount the ray starts from.

getMount() - Method in class org.horizon36596.simloop.vision.SimCamera

Returns the extrinsics.

getMount() - Method in class org.horizon36596.simloop.vision.SimFrameRenderer

Returns the mount frames are drawn from.

getMount() - Method in class org.horizon36596.simloop.vision.SimTagCamera

Returns the extrinsics.

getMountAcrossRobotInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

Where the mechanism mounts on the robot, measured along the canvas horizontal axis (in) and signed — negative is behind the robot's centre when that axis is robot-forward.

getMountPointInches() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Where the mechanism attaches to the robot.

getMsTransmissionInterval() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Returns the stored interval, in milliseconds; it is not honoured, see the class javadoc.

getName() - Method in class org.horizon36596.simloop.field.BodyCell

Returns the cell's name.

getName() - Method in class org.horizon36596.simloop.field.ConvexShape

Returns the label given at construction.

getName() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the body's name.

getName() - Method in class org.horizon36596.simloop.field.ObstacleBox

Returns the label given at construction.

getName() - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the label given at construction.

getName() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the label given at construction; also the cause logged for a score.

getName() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the label given at construction.

getName() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the label this volume is logged under when it acquires a piece.

getName() - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Returns the label given at construction.

getName() - Method in class org.horizon36596.simloop.vision.SimCamera

Returns the camera's name, as used in its log keys.

getName() - Method in class org.horizon36596.simloop.viz.JointDefinition

Returns the segment's name; one segment of its AdvantageScope log key.

getName() - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition

Mechanism name.

getName() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

Returns the mechanism name; the root of its AdvantageScope log keys.

getNames() - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns the component names, in index order.

getObstacles() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the solid boxes, in declaration order.

getOccluders() - Method in class org.horizon36596.simloop.vision.SimTagCamera

Returns the boxes that block line of sight, unmodifiable.

getOutOfRangeReadingMm() - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Returns what the sensor reports with nothing in range, millimetres, or the SDK's sentinel.

getP1() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns the first tangential distortion coefficient, OpenCV's p1.

getP2() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns the second tangential distortion coefficient, OpenCV's p2.

getParent(int) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns the component's parent index, or ArticulatedRobotModel.ROBOT.

getPartName() - Method in class org.horizon36596.simloop.field.RobotContact

Returns the robot part's name.

getParts() - Method in class org.horizon36596.simloop.field.RobotShape

Returns the boxes, robot frame, in the order given.

getPhysicalPositionTicks() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

True modelled shaft position in encoder ticks, direction already baked in and NOT re-applied (see class javadoc).

getPhysicalPower() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

The speed the horn is really turning at, in [-1, 1]: the direction is already baked in and is not applied again.

getPhysicalVelocityTicksPerSecond() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

True modelled shaft velocity in encoder ticks/second, direction already baked in and NOT re-applied (see class javadoc).

getPhysics() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the physics numbers.

getPIDCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPIDCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The P, I and D the hub holds for a mode (its F, if any, is dropped, as the SDK's fallback does).

getPIDFCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPIDFCoefficients(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The gains and algorithm the hub holds for a mode, quantized as the hub stores them.

getPiece() - Method in class org.horizon36596.simloop.sensor.ColorProbe.Sighting

Returns the piece in view, or null when there is none.

getPiece(int) - Method in class org.horizon36596.simloop.field.GamePieceTracker

One piece by id.

getPieceId() - Method in class org.horizon36596.simloop.sensor.RangeHit

Returns the piece's id for a RangeHit.Target.PIECE hit, otherwise -1.

getPieceId() - Method in class org.horizon36596.simloop.vision.CameraSighting

Returns the id of the piece seen — ground truth a real detector never has.

getPieceIdAt(int, int) - Method in class org.horizon36596.simloop.vision.SimFrame

Which piece a pixel shows: ground truth, from the ray through the pixel's centre.

getPieceInertiaFactor() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns a piece's moment of inertia as a fraction of m r^2: 2/3 for a thin hollow shell, 2/5 for a solid ball.

getPieceMass(String) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the mass of a piece of this kind, in the season's mass unit.

getPieceRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the colour of a piece whose kind has no colour of its own, 0xRRGGBB.

getPieces() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Every piece added so far, in id order.

getPieceToFloorFriction3d() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the Coulomb friction coefficient between a piece in the 3-D model and the floor, or NaN when not set.

getPieceToFloorRestitution() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns coefficient of restitution when an in-flight piece hits the floor.

getPieceToFloorTangentialRetention() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the fraction of its horizontal speed an in-flight piece keeps on each floor bounce, 0 to 1; 1 keeps it all.

getPieceToObstacleRestitution() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns coefficient of restitution against an ObstacleBox.

getPieceToObstacleRestitution3d() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the coefficient of restitution against an ObstacleBox for a piece in the 3-D model.

getPieceToPieceFriction() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the Coulomb friction coefficient between two pieces touching in 3-D, among pieces resting in or tumbling off a KinematicBody.

getPieceToPieceRestitution() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns coefficient of restitution when two loose pieces collide, 0 = stick, 1 = perfectly elastic.

getPieceToPieceRestitution3d() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the coefficient of restitution when two pieces in the 3-D model collide (in flight, or resting in a body's cell).

getPieceToRobotRestitution() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns coefficient of restitution when the robot's footprint pushes a loose piece.

getPieceToWallRestitution() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns coefficient of restitution against the field perimeter wall.

getPieceToWallRestitution3d() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the coefficient of restitution against the perimeter wall for a piece in the 3-D model.

getPipelineIndex() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns the pipeline index the next captured frame will report.

getPitchRad() - Method in class org.horizon36596.simloop.sensor.SensorMount

Returns pitch, radians, positive = tilted down.

getPitchRad() - Method in class org.horizon36596.simloop.vision.CameraMount

Returns pitch, radians, positive = tilted down.

getPitchRad() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns pitch, radians in [-pi/2, pi/2], rotation about the parent's y.

getPivot() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the pivot, field frame, inches, {x, y, z}, a copy.

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Returns the servo port number; always 0, since a fake is not wired to a hub.

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns the port number, always 0 for a fake.

getPortNumber() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

getPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Returns the last commanded position on the user-facing [0, 1] scale, unitless.

getPosition() - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Returns the current position in mechanism units, always within [minPosition, maxPosition].

getPosition() - Method in interface org.horizon36596.simloop.plant.OneDofPlant

Returns the current position of this degree of freedom, in its own mechanism unit.

getPosition() - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Returns the current mechanism position in mechanism units, always within [minPosition, maxPosition].

getPosition(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Current position of one named degree of freedom.

getPower() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

The commanded speed the caller asked for, clipped to [-1, 1] — not the direction the horn actually turns.

getPower() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getPower() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The power last sent, as DcMotorImpl.getPower reports it: |power| in RUN_TO_POSITION, otherwise with the handle's current direction applied.

getPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

DcMotorImpl.getPowerFloat: FLOAT and a reported power of exactly zero.

getPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

DcMotorImpl.getPowerFloat: true when the zero-power behaviour is FLOAT and the reported power is exactly zero.

getProximityCounts() - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Returns the raw 11-bit proximity count the emulated chip is measuring right now.

getPulseWidth() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Returns the pulse width last sent to this port, in whole microseconds; 0 before anything is sent.

getPulseWidth() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Returns the pulse width last sent to this port, in whole microseconds; 0 before anything is sent.

getPushXInches() - Method in class org.horizon36596.simloop.field.RobotContact

Returns field X of the move that frees the part, inches.

getPushYInches() - Method in class org.horizon36596.simloop.field.RobotContact

Returns field Y of the move that frees the part, inches.

getPwmRange() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Returns the PWM range in microseconds; the SDK's default 600-2400 us range until set.

getPwmRange() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Returns the PWM range in microseconds; the SDK's default 600-2400 us range until set.

getRadiusInches() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the piece's radius, in inches.

getRadiusPx() - Method in class org.horizon36596.simloop.vision.CameraSighting

The piece's apparent radius, pixels, computed as horizontal focal length times real radius over range.

getRangeInches() - Method in class org.horizon36596.simloop.vision.CameraSighting

Returns straight-line distance from the lens to the piece's centre, inches.

getRangeInches() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns straight-line distance from the lens to the tag centre, inches.

getRawCounts() - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Returns the raw per-channel counts the emulated chip is measuring right now.

getRed() - Method in class org.horizon36596.simloop.fakehardware.ColorCounts

Returns the red channel's raw count, unitless, 0..65535.

getRestitution() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the coefficient of restitution a piece meets on this body, 0 to 1: on every shape not given its own by KinematicBody.withShapeMaterial(java.lang.String, double, double).

getRestSpeedInchesPerS() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the speed below which a rolling or bouncing piece is snapped to rest, inches per second.

getRestXInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the resting X of the first scored piece, field frame, inches.

getRestYInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the resting Y of every scored piece, field frame, inches.

getRestZInches() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns the resting centre height of every scored piece, inches above the floor.

getRetractedLengthInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

Returns the drawn length when fully retracted (in).

getRgb(int, int) - Method in class org.horizon36596.simloop.vision.SimFrame

One pixel's colour.

getRgbaBytes() - Method in class org.horizon36596.simloop.vision.SimFrame

Returns the pixels as interleaved R, G, B, A bytes with A = 255, row-major; a fresh copy.

getRgbBytes() - Method in class org.horizon36596.simloop.vision.SimFrame

Returns the pixels as interleaved R, G, B bytes, row-major from the top-left; a fresh copy.

getRideAlongSketch() - Method in class org.horizon36596.simloop.viz.TurretSketch

The chain above the turret, as drawn in the turret's plane: canvas right is the turret's forward, canvas up is world up.

getRobotAngularVelocity(AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Returns the robot's angular velocity in robot axes, through the SDK helper.

getRobotBoxes() - Method in class org.horizon36596.simloop.vision.CameraOccluders

Returns the boxes fixed to the robot, robot frame, unmodifiable.

getRobotHeightInches() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the robot's height above the floor, inches: the top of the box in-flight pieces hit; 0 when not declared.

getRobotLengthInches() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the robot's full extent along its own forward axis, inches; 0 when no footprint.

getRobotOrientation(AxesReference, AxesOrder, AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Returns the robot's orientation in any axes convention, through the SDK helper.

getRobotOrientationAsQuaternion() - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Returns the robot's orientation as a unit quaternion relative to where FakeImu.resetYaw() was last called, with acquisition time in simulated nanoseconds.

getRobotRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the colour of a robot box no prefix matches, 0xRRGGBB.

getRobotShape() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns the shape given to GamePieceTracker.setRobotShape(org.horizon36596.simloop.field.RobotShape), or null when the world's footprint is used.

getRobotToCamera() - Method in class org.horizon36596.simloop.vision.SimTagCamera

Returns the lens in the robot frame as a transform: the optical frame's pose, inches.

getRobotToTag() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns the tag's frame in the robot frame, T_robot_tag, inches.

getRobotWidthInches() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the robot's full extent along its own left axis, inches; 0 when no footprint.

getRobotYawPitchRollAngles() - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Returns the robot's yaw, pitch and roll in degrees (intrinsic ZXY, as the SDK defines them), each in [-180, 180): yaw CCW-positive seen from above, zero where FakeImu.resetYaw() was last called; acquisition time in simulated nanoseconds.

getRollingDecelerationInchesPerS2() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns how fast a rolling piece loses speed, inches per second squared.

getRollRad() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns roll, radians in (-pi, pi], rotation about the parent's x; 0 at gimbal lock.

getRootCanvasXInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

The root's canvas x (in) — the number written to the log, already shifted by half the canvas width so AdvantageScope lands it on the robot.

getRootCanvasYInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

The root's canvas y (in) — the number written to the log.

getRotationAxis() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

Unit axis the segment turns about, robot-local.

getScaledPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

The scaled (physical) position actually applied, in [limitMin, limitMax] — the value a downstream sim mechanism would see (analogous to FakeMotor.getCurrentPosition()).

getScoredCount() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns how many pieces have been scored and are out of play.

getScoredCountIn(String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

How many pieces are parked in one particular goal right now: the ones the match started with, scored by hand or by a flight, minus any that have since left it (GamePieceTracker.tryRetrieveBottomPiece(java.lang.String, org.horizon36596.simloop.field.TriggerVolume, boolean, java.util.Collection<java.lang.String>), GamePieceTracker.releaseScoredPiece(int, java.lang.String, double, double, double, double, double, double)).

getScoredPieceIdsIn(String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

The pieces in one goal right now, in id order: for a scoring volume, the ones GamePieceTracker.addScoredPiece(java.lang.String, double, java.lang.String), GamePieceTracker.scoreInto(int, java.lang.String) and a scoring flight parked there and nothing has released since; for a BodyCell, the ones resting in it now, wherever the physics has them.

getScoringVolume(String) - Method in class org.horizon36596.simloop.field.FieldWorld

A goal by name.

getScoringVolumes() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns the goals, in declaration order — the order they are tested in, which matters if two overlap.

getSeamRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the colour of the seams between tiles, 0xRRGGBB.

getSeamWidthInches() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the seam width, inches.

getSeatDepthInches() - Method in class org.horizon36596.simloop.field.BodyCell

Returns how far below the top face a piece's centre must be to count as entered, inches.

getSeatedCellName() - Method in class org.horizon36596.simloop.field.GamePiece

Returns the name of the BodyCell this SCORED piece is resting in, or null.

getShapeFriction(int) - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the Coulomb friction coefficient between a piece and one shape.

getShapeRestitution(int) - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the coefficient of restitution a piece meets on one shape, 0 to 1.

getShapes() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns the solid parts, body-local, in declaration order.

getSimTimeNanos() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns sim time since this device was built, nanoseconds: the sum of every update tick.

getSimulatedInputState() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Returns the raw line level the sim is currently driving, whatever mode the channel happens to be in.

getSizeInches() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns the edge length of the tag square whose corners are reported, inches.

getSleepSeconds() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns how long, seconds, a piece must be still before it is put to sleep.

getSleepSpeedInchesPerS() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns the speed, inches per second, under which a piece resting on a KinematicBody or on other pieces counts as still.

getSpeed() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns the unitless shaft speed in [-1, 1] (fraction of max velocity); physical, see class javadoc.

getSpinDampingPerSecond() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns how fast a piece's spin decays on its own, per second: w <- w / (1 + k dt) each sub-step.

getSpinXRadPerSecond() - Method in class org.horizon36596.simloop.field.GamePiece

Returns spin about field +X, radians per second; zero except near a KinematicBody.

getSpinYRadPerSecond() - Method in class org.horizon36596.simloop.field.GamePiece

Returns spin about field +Y, radians per second; zero except near a KinematicBody.

getSpinZRadPerSecond() - Method in class org.horizon36596.simloop.field.GamePiece

Returns spin about field +Z, radians per second; zero except near a KinematicBody.

getState() - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

The channel's current state: the bit the robot last wrote while in OUTPUT mode, or the line the sim is driving while in INPUT mode.

getState() - Method in class org.horizon36596.simloop.field.GamePiece

Returns which of the possession states this piece is in right now.

getStaticRobots() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns the robots standing still, in the order given; empty for none.

getStatus() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

The device status the SDK parses from /status: name, pipeline index and type, frame rate (0 when frames are captured every tick) and finalYaw, the MegaTag2 yaw.

getStructureName() - Method in class org.horizon36596.simloop.field.RobotContact

Returns the structure's name, or RobotContact.PERIMETER.

getStyle() - Method in class org.horizon36596.simloop.vision.SimFrameRenderer

Returns the colours and light.

getSubstepsPerTick() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Deprecated.

the sub-step count now depends on the tick the caller hands to GamePieceTracker.advance(double); use GamePiecePhysicsConfig.substepsFor(double) with that tick, or GamePiecePhysicsConfig.getMaxSubstepSeconds(). Kept so existing callers still compile.

getSuppliedYawDegrees() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns the yaw last sent with FakeLimelight3A.updateRobotOrientation(double), degrees; 0 before any.

getTag() - Method in class org.horizon36596.simloop.vision.TagSighting

Returns the tag seen, from the layout.

getTag(int) - Method in class org.horizon36596.simloop.vision.AprilTagLayout

The tag with an id.

getTagBackRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the back of a tag, 0xRRGGBB.

getTagBlackRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the dark cells of a tag, 0xRRGGBB.

getTagCamera() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns the geometric camera behind this fake, for tests that want the noise-free truth.

getTagIdAt(int, int) - Method in class org.horizon36596.simloop.vision.SimFrame

Which tag a pixel shows, white border included: ground truth, from the ray through the pixel's centre.

getTags() - Method in class org.horizon36596.simloop.vision.AprilTagLayout

Returns every tag, in ascending id order, unmodifiable.

getTagWhiteRgb() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the light cells and border of a tag, 0xRRGGBB.

getTarget() - Method in class org.horizon36596.simloop.sensor.RangeHit

Returns what the ray hit first; RangeHit.Target.NOTHING for a miss.

getTargetName() - Method in class org.horizon36596.simloop.sensor.RangeHit

Returns the obstacle's name for an RangeHit.Target.OBSTACLE hit, the piece's kind for a RangeHit.Target.PIECE hit, "perimeter" for the wall, "floor" for the floor, and empty for a miss.

getTargetPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

The hub's target with the handle's current direction applied on read, as DcMotorImpl.getTargetPosition does; 0 before any target is sent.

getTargetPosition() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The hub's target with the handle's direction applied on read, as DcMotorImpl.getTargetPosition does; 0 before any target is sent.

getTargetPositionTolerance() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Returns the stored tolerance in encoder ticks; 5 until set, as on a fresh DcMotorImplEx.

getTargetPositionTolerance() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns the tolerance stored on the handle, in encoder ticks; 5 until set, as on a fresh DcMotorImplEx.

getTileSizeInches() - Method in class org.horizon36596.simloop.vision.FrameStyle

Returns the tile edge, inches; 0 means a plain floor with no seams.

getTiltUpRad() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns how far the face normal points above horizontal, radians; 0 for a plumb tag, positive for a tag leaning back so its face looks up, PI / 2 for a tag lying face up on the floor.

getTimeSinceLastUpdate() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Sim milliseconds since the last poll.

getTipAcrossInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

How far along the canvas horizontal axis the tip of the last joint is drawn right now, measured from the robot's origin, in inches.

getTipAngleRadians() - Method in class org.horizon36596.simloop.viz.MechanismSketch

Which way the last joint points right now, as an absolute angle in the canvas plane: radians counter-clockwise from the canvas horizontal axis toward the canvas vertical axis.

getTipUpInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

How far along the canvas vertical axis the tip of the last joint is drawn right now, measured from the robot's origin (floor level), in inches.

getTotalTravelInches() - Method in class org.horizon36596.simloop.viz.MechanismSketch

Sum of every linear stage's current extension (in) — what the mechanism is extended by.

getTxDegrees() - Method in class org.horizon36596.simloop.vision.TagSighting

Horizontal angle from the boresight to the tag centre, degrees, positive when the tag is to the right of the image centre: atan(x / z) in the optical frame, which is also atan((centreXPx - cx) / fx) for the pinhole lens.

getTyDegrees() - Method in class org.horizon36596.simloop.vision.TagSighting

Vertical angle from the boresight to the tag centre, degrees, positive when the tag is above the image centre: atan(-y / z) in the optical frame.

getUnloggedTransitions() - Method in class org.horizon36596.simloop.field.GamePieceTracker

The transitions that have happened since the last GamePieceTracker.record(String), in order — the exact strings that call will log.

getUpInches() - Method in class org.horizon36596.simloop.sensor.SensorMount

Returns the sensor face's height above the floor, inches.

getUpInches() - Method in class org.horizon36596.simloop.vision.CameraMount

Returns the lens height above the floor, inches.

getUserConfiguredName() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getValue() - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Returns 1.0 while pressed and 0.0 while released, as RevTouchSensor reports; unitless.

getVelocity() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getVelocity() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The port's velocity in encoder ticks per second, as DcMotorImplEx.getVelocity reports it: the hub's reading, which is a whole number of ticks per second, with the handle's direction applied.

getVelocity() - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Current modelled velocity in mechanism units/second (0 while stalled against an end-limit).

getVelocity() - Method in interface org.horizon36596.simloop.plant.OneDofPlant

Current modelled speed of this degree of freedom, in its own mechanism unit per second.

getVelocity() - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Modelled speed over the last tick in mechanism units/second (0 while parked against an end stop or once the joint has arrived).

getVelocity(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Current modelled speed of one named degree of freedom.

getVelocity(AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getVelocity(AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

The port's velocity as an angular rate, converted exactly as LynxDcMotorController converts it: the hub's whole ticks/s over this port's configured CPR, times 360 degrees, into unit's UNNORMALIZED form (a rate, so it is never wrapped to a half-turn), then the handle's direction.

getVelocityFractionOfMaxSpeed() - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

The same modelled velocity as Mechanism1DofPlant.getVelocity(), expressed as a fraction of maxSpeed in [-1, 1] — which is the unit a motor's back-EMF current model needs.

getVelocityTicksPerSecond() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

SDK-reported wheel velocity in encoder ticks/second: direction applied on read, so a REVERSE motor commanded positive power reports positive, matching real DcMotorEx.

getVelocityXInchesPerSecond() - Method in class org.horizon36596.simloop.field.GamePiece

Returns velocity along field +X, inches per second; zero unless loose-and-rolling or in flight.

getVelocityYInchesPerSecond() - Method in class org.horizon36596.simloop.field.GamePiece

Returns velocity along field +Y, inches per second; zero unless loose-and-rolling or in flight.

getVelocityZInchesPerSecond() - Method in class org.horizon36596.simloop.field.GamePiece

Returns vertical velocity, inches per second, positive upward; zero unless in flight.

getVersion() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

1, the version every SDK device implementation this package fakes reports (DcMotorImpl, ServoImpl, CRServoImpl, DigitalChannelImpl, AnalogInput).

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

1, as AnalogInput.getVersion reports.

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Returns 1, as the SDK's I2C device drivers report.

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

getVersion() - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Returns 1, as RevTouchSensor reports.

getVertex(int) - Method in class org.horizon36596.simloop.field.ConvexShape

Returns corner index, {x, y, z} inches, a copy.

getVertexCount() - Method in class org.horizon36596.simloop.field.ConvexShape

Returns how many corners the hull has.

getVisibleFraction() - Method in class org.horizon36596.simloop.vision.CameraSighting

How much of the piece the camera can see past the occluders, 0 to 1: the share of sample rays spread over the piece's disc (as the camera sees it) that reach the piece without passing through a box or a nearer piece.

getVoltage() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Returns the reading, in volts.

getVoltage() - Method in class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Returns the battery voltage this sensor reports, in volts.

getWakeSpeedInchesPerS() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns how fast, inches per second, another piece must arrive to wake a sleeping one.

getWidthInches() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the full extent across the heading, inches.

getWidthInches() - Method in class org.horizon36596.simloop.field.TriggerVolume

Returns the full extent along robot left, inches.

getWidthInches() - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Returns the actuator's full extent along robot left, inches.

getWidthPx() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns image width, pixels.

getWidthPx() - Method in class org.horizon36596.simloop.vision.SimFrame

Returns the image width, pixels.

getWorld() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns the world this tracker's physics runs in right now (see GamePieceTracker.replaceWorld(org.horizon36596.simloop.field.FieldWorld)).

getX() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the localizer-frame X position, in inches — +x is forward at heading 0.

getX() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the localizer-frame X position (forward at heading 0, field +Y), in inches, within +-fieldHalfHeight.

getXInches() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the centre's field X, inches.

getXInches() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns the tag centre's field X, inches.

getXInches() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns the child origin along the parent's x, inches.

getY() - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Returns the localizer-frame Y position, in inches — +y is left at heading 0.

getY() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the localizer-frame Y position (left at heading 0, field -X), in inches, within +-fieldHalfWidth.

getYaw() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

The yaw joint.

getYawPivotInches() - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition

A point on the turret's yaw axis, robot frame, inches.

getYawRad() - Method in class org.horizon36596.simloop.sensor.SensorMount

Returns yaw, radians CCW about up, 0 = forward.

getYawRad() - Method in class org.horizon36596.simloop.vision.CameraMount

Returns yaw, radians CCW about up, 0 = forward.

getYawRad() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns yaw, radians in (-pi, pi], rotation about the parent's z.

getYawRadians() - Method in class org.horizon36596.simloop.viz.TurretSketch

Returns the turret's current clamped yaw, radians from the zero pose.

getYInches() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the centre's field Y, inches.

getYInches() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns the tag centre's field Y, inches.

getYInches() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns the child origin along the parent's y, inches.

getZeroPoseDirection() - Method in class org.horizon36596.simloop.viz.JointDefinition

Unit direction the segment points at the mechanism's zero pose, robot-local frame.

getZeroPoseLengthInches() - Method in class org.horizon36596.simloop.viz.JointDefinition

The segment's drawn length at the zero pose (in).

getZeroPoseLengthInches() - Method in class org.horizon36596.simloop.viz.LinearJointDefinition

The stage's drawn length at the zero pose (in): its retracted length plus its minimum travel.

getZeroPoseLengthInches() - Method in class org.horizon36596.simloop.viz.RevoluteJointDefinition

The arm's length (in) — the same number as RevoluteJointDefinition.getArmLengthInches(), under the name every joint kind answers to.

getZeroPowerBehavior() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

getZeroPowerBehavior() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

getZInches() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

Returns the tag centre's height above the floor, inches.

getZInches() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns the child origin along the parent's z, inches.

GRAVITY_IN_PER_S2 - Static variable in class org.horizon36596.simloop.viz.ShotArc

Standard gravity, inches per second squared (9.80665 m/s² ÷ 0.0254).

gravityHoldPowerFraction() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

0.0 — see the table in the class javadoc for why.

gravityHoldPowerFraction() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

How much of the motor's full effort the mechanism's own weight takes away, as a fraction in [0, 1) — a vertical slide carrying a load needs a continuous power just to stay where it is, and gets nothing back when it lets go.

gravityHoldPowerFraction() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

Always 0.0 for a servo-driven joint, and not because servo-driven joints are weightless.

gravityInchesPerS2(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default: standard gravity, 386.09 in/s².

groundPointInRobotFrame(double, double, double) - Method in class org.horizon36596.simloop.vision.SimCamera

The point on a horizontal plane that a pixel looks at — the inverse of SimCamera.observe(java.util.List<org.horizon36596.simloop.field.GamePiece>, double, double, double)'s projection for a point at a known height, in the robot frame.

Guardrail - Interface in org.horizon36596.simloop.loop

One safety-envelope term: something that must stay true no matter how good the objective gets (docs/process/scorer-interface.md §3).

Guardrail.Status - Enum Class in org.horizon36596.simloop.loop

What a guardrail concluded about one run.

Guardrail.Verdict - Class in org.horizon36596.simloop.loop

A guardrail's conclusion about one run: a status, a penalty, and why.

guardrails() - Method in class org.horizon36596.simloop.loop.Scorer

Returns the envelope terms applied, in order.

H

HALF_TRAVEL_FRACTION - Static variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

How far a stick or trigger goes while KeyboardGamepadSource.HALF_TRAVEL_KEY is held, as a fraction of full travel.

HALF_TRAVEL_KEY - Static variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

Held: sticks and triggers go only halfway, for fine positioning.

halfExtent(int) - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the half extent along axis i, inches.

HARDWARE_VERSION - Static variable in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

What the hardware-version register reports, as Version's packed byte (major in the high nibble, minor in the low).

hasDistortion() - Method in class org.horizon36596.simloop.vision.CameraLens

Returns true when any distortion coefficient is non-zero.

hasEncoderMeasuringAnotherMechanism() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns whether this port is reporting another mechanism's encoder rather than this motor's own shaft.

hashCode() - Method in class org.horizon36596.simloop.fakehardware.ColorCounts

Returns a hash of the three counts, consistent with ColorCounts.equals(Object).

hashCode() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Frame

hashCode() - Method in class org.horizon36596.simloop.sim.live.GamepadState

hasKey(String) - Method in class org.horizon36596.simloop.loop.RunResult

Whether a key was logged at all.

hasKey(Path, String) - Static method in class org.horizon36596.simloop.fit.RlogTimeSeries

Whether an RLOG has a key at all, so an optional column (a battery voltage the robot may not log) can be looked for before it is asked for.

hasKinematicBodies() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns true when the world has at least one KinematicBody.

hasLastBest() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns true once there is a working answer: an accepted baseline or an accepted candidate.

hasNonFiniteValue() - Method in class org.horizon36596.simloop.loop.RunResult

True if any frame logged a non-finite number under any key — NaN or an infinity.

hasPieceToFloorFriction3d() - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Returns whether a piece in the 3-D model meets the floor with Coulomb friction and spin (GamePiecePhysicsConfig.getPieceToFloorFriction3d()) rather than by GamePiecePhysicsConfig.getPieceToFloorTangentialRetention().

hasReportableScore() - Method in class org.horizon36596.simloop.loop.StopReport

Returns true only when a score is safe to report — replayed, and identical field by field.

hasRobotBody() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns true when the robot is a solid box that in-flight pieces bounce off: it has a footprint and a height.

hasRobotFootprint() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns true when the robot has a footprint that pushes loose pieces.

hasViolation() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns true if any envelope term was checked and found broken.

hasVoltage() - Method in class org.horizon36596.simloop.fit.FirstOrderFit.Samples

Returns whether a real battery voltage was logged, rather than assumed.

HELD - Enum constant in enum class org.horizon36596.simloop.field.PossessionState

Carried by the robot.

HingeDynamics - Class in org.horizon36596.simloop.field

What makes a KinematicBody a dynamic hinged body: one degree of freedom, its angle about the body's fixed axis, moved by gravity on its own mass and by every contact the game pieces make with it.

HingeDynamics(double, double[], double, double, double, double, double) - Constructor for class org.horizon36596.simloop.field.HingeDynamics

Creates a hinge from its mass, inertia, damping and angle limits.

holdFor(double) - Method in interface org.horizon36596.simloop.simclock.SimClockScheduler

Holds the calling thread, which SimClockScheduler.whyThreadCannotWait(java.lang.Thread) allowed, for as many whole ticks as it takes to cover seconds of sim time; no real time passes.

holds() - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Checked, and fine.

HOLDS - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

Checked, and satisfied.

HOLDS - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Checked against the run; the invariant holds.

holdsCleanly() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

True when this term was checked and is fine.

horizontalPushOutOf(OrientedBox) - Method in class org.horizon36596.simloop.field.OrientedBox

The shortest horizontal move of this box that takes it out of fixed, or null when the two do not overlap.

I

identity() - Static method in class org.horizon36596.simloop.vision.RigidTransform3

Returns the transform that changes nothing.

idleAt(String) - Method in interface org.horizon36596.simloop.simclock.SimClockScheduler

A rewritten idle() on the calling thread, which SimClockScheduler.whyThreadCannotWait(java.lang.Thread) allowed.

imageSizePx(int, int) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

The detector image size.

IMPROVED_BY_AT_LEAST_THE_THRESHOLD - Enum constant in enum class org.horizon36596.simloop.loop.Milestone.Reason

The total rose by at least the loop's milestone threshold since the last milestone (or since the accepted baseline, before the first one).

improvement() - Method in class org.horizon36596.simloop.loop.Milestone

How much the total moved since Milestone.previousBest().

IMPROVES_ON_LAST_BEST - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

Strictly better than last-best, within one scenario and one objective.

IN_FLIGHT - Enum constant in enum class org.horizon36596.simloop.field.PossessionState

Launched and airborne: a ballistic arc under gravity (plus optional air drag) from the exit point the launcher stated (GamePieceTracker.launch(int, java.lang.String, double, double, double, double, double, double)), or from the point a goal let go of it (GamePieceTracker.releaseScoredPiece(int, java.lang.String, double, double, double, double, double, double)).

indexOf(String) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns the index of the named component.

INIT - Enum constant in enum class org.horizon36596.simloop.opmode.OpModePhase

The tick on which INIT is pressed.

INIT_LOOP - Enum constant in enum class org.horizon36596.simloop.opmode.OpModePhase

Ticks between INIT and PLAY.

initialize(IMU.Parameters) - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Declares how the IMU is mounted, as robot code does in init: the device is read through parameters.imuOrientationOnRobot from now on, and a later change to parameters has no effect.

initLoopTicks(int) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Sets how many ticks pass between INIT and PLAY.

integrate(double, double, double, double, boolean, double) - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Advance the pose by one tick from the four wheel linear speeds, saying whether the drive motors are floating at zero power this tick.

integrate(double, double, double, double, double) - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Advance the pose by one tick from the four wheel linear speeds, with the motors driving (not floating): the same as MecanumPoseIntegrator.integrate(double, double, double, double, boolean, double) with motorsFloating false.

internalInitialize(BroadcomColorSensor.Parameters) - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

The SDK's chip initialization, minus the logging a JVM cannot do and the register writes the emulated chip does not model (see the class javadoc).

internalPut(SerialNumber, String, HardwareDevice) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

The SDK's own internalPut — every put, typed or not, ends here — followed by pinning the enumeration order (class javadoc).

internalState() - Method in class org.horizon36596.simloop.field.SeededRandom

Returns the whole internal state, the value the next draw starts from.

invariantTestsGreen() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: all invariant-tier tests green.

inverse() - Method in class org.horizon36596.simloop.vision.RigidTransform3

Returns the inverse: if this is T_AB, the result is T_BA.

INVOKEDYNAMIC - Static variable in class org.horizon36596.simloop.simclock.JvmInstructions

invokedynamic: a lambda, method reference or string concatenation; four operand bytes.

INVOKESPECIAL - Static variable in class org.horizon36596.simloop.simclock.JvmInstructions

invokespecial: calls a constructor, a private method or a super. method.

INVOKESTATIC - Static variable in class org.horizon36596.simloop.simclock.JvmInstructions

invokestatic: calls a static method; operand is a two-byte Methodref index.

INVOKEVIRTUAL - Static variable in class org.horizon36596.simloop.simclock.JvmInstructions

invokevirtual: calls an instance method; operand is a two-byte Methodref index.

isArmed() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

isAtCapacity() - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns true while the robot cannot take another piece.

isAutoClear() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

isAxis() - Method in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource.KeyBinding

Returns true if this key drives an axis rather than a button.

isBodyHeld(String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Returns whether a body is held still (GamePieceTracker.setBodyHeld(java.lang.String, boolean)).

isBounded() - Method in class org.horizon36596.simloop.field.FieldWorld

Returns true when a perimeter wall was declared.

isBusy() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

True in DcMotor.RunMode.RUN_TO_POSITION while the port's raw count is more than the tolerance away from the hub's target; false in every other mode.

isBusy() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

In DcMotor.RunMode.RUN_TO_POSITION, true while the port's raw count is more than the tolerance away from the hub's target; false in every other mode.

isClipped() - Method in class org.horizon36596.simloop.vision.CameraSighting

Returns true when part of the piece's disc falls outside the image edges.

isComparableTo(Scorer.Score) - Method in class org.horizon36596.simloop.loop.Scorer.Score

True when this score may be compared against other: same objective name, same direction, same metric description, same scenario.

isComplete() - Method in class org.horizon36596.simloop.loop.RunResult

True when the run produced every frame it was supposed to.

isDescendingOnly() - Method in class org.horizon36596.simloop.field.ScoringVolume

Returns true when only a piece moving downward can score.

isDown(String) - Method in class org.horizon36596.simloop.sim.live.GamepadState

Returns whether one button is held down.

isDynamic() - Method in class org.horizon36596.simloop.field.KinematicBody

Returns true when the physics moves this body (KinematicBody.withHinge(org.horizon36596.simloop.field.HingeDynamics)), false when the season does.

isEmpty() - Method in class org.horizon36596.simloop.vision.CameraOccluders

Returns true when there are no boxes at all.

isFirstCandidateOfRun() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

Whether this is the first candidate of a run.

isFrameCountMismatch() - Method in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

Returns true if this entry reports the two runs having a different total frame count, not a field diff.

isHeld() - Method in class org.horizon36596.simloop.field.GamePiece

Returns true while this piece is being carried by the robot.

isHit() - Method in class org.horizon36596.simloop.sensor.RangeHit

Returns true unless the ray hit nothing.

isInFlight() - Method in class org.horizon36596.simloop.field.GamePiece

Returns true while this piece is airborne after a launch.

isMotorEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

isMotorEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Returns whether the channel is enabled.

isOpen() - Method in interface org.horizon36596.simloop.sim.live.KeyboardGamepadSource.Keyboard

Returns false once the person has closed the keyboard window; the session then ends.

isOverBudget() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns true when this term was checked, holds as an invariant, but charged a graded soft-budget penalty.

isOverCurrent() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Always false: the current is always zero, so it never reaches any threshold.

isOverCurrent() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

True once the modelled current reaches the alert threshold, matching the SDK's own over-current flag.

isParkedInGoal() - Method in class org.horizon36596.simloop.field.GamePiece

Returns true while this piece is SCORED and parked at a slot inside one of the world's goals.

isPerpendicularTo(RobotVector3) - Method in class org.horizon36596.simloop.viz.RobotVector3

True if this vector is perpendicular to other within 1e-6.

isPieceInView() - Method in class org.horizon36596.simloop.sensor.ColorProbe.Sighting

Returns true when a piece is in view.

isPressed() - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Returns true while the button is pushed in.

isPressed(FieldWorld, List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.ContactSwitch

True when the actuator touches anything, for a robot at the given pose.

isPressedAt(boolean) - Method in enum class org.horizon36596.simloop.fakehardware.SwitchPolarity

Reads a raw line level back as pressed or released - the inversion robot code does for this wiring.

isPwmEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Returns whether the PWM signal is on; false on a fresh servo, true after any power command.

isPwmEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Returns whether the PWM signal is on; false on a fresh servo, true after any position command.

isRunning() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns true between FakeLimelight3A.start() and FakeLimelight3A.stop() or FakeLimelight3A.pause().

isSleeping() - Method in class org.horizon36596.simloop.field.GamePiece

Returns true while the physics has put this piece to sleep, at rest until something disturbs it.

isTargetInRange() - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Returns true when the current target is within the sensor's range, so a reading is a real distance.

isTeamClass(String) - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns true if a class of this name would be loaded here and rewritten.

isTrustworthy() - Method in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Returns whether the data pinned every parameter down: no FirstOrderFit.Result.warnings().

isUnavailable() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

Whether a last-best was expected and could not be produced.

isUnitLength() - Method in class org.horizon36596.simloop.viz.RobotVector3

True if this vector is within 1e-6 of unit length.

isUnknown() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns true when this term could not be checked from the run at all.

isViolation() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns true when this term was checked and is broken.

isVisibleOnField() - Method in class org.horizon36596.simloop.field.GamePiece

True when the piece is somewhere a camera or a viewer could see it: on the floor, in the air, or parked in one of the world's goals.

isWriteCoalescingEnabled() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

J

JointDefinition - Class in org.horizon36596.simloop.viz

One segment of a mechanism, as it should be drawn in AdvantageScope.

JointDefinition(String, RobotVector3, String, double) - Constructor for class org.horizon36596.simloop.viz.JointDefinition

Validates and stores the four things every joint has, whatever kind it is.

JointDefinition.Kind - Enum Class in org.horizon36596.simloop.viz

Which of a segment's two drawn numbers this joint moves.

judge(Scorer.Score, Gate.LastBest, Gate.SuppliedFacts) - Method in class org.horizon36596.simloop.loop.Gate

Judge one candidate.

judgeUnscorable(String, Gate.SuppliedFacts) - Method in class org.horizon36596.simloop.loop.Gate

Judge a candidate whose run could not be scored at all — the objective read a key the run never logged, read a value that is not a number, or measured NaN.

JvmInstructions - Class in org.horizon36596.simloop.simclock

How many bytes each JVM instruction takes (JVMS §6.5), for code that walks a method's bytecode one instruction at a time.

K

keepBlackboard(boolean) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Keeps OpMode.blackboard as it is when the run starts, instead of clearing it before INIT (the default), to hand data from one run to the next the way an autonomous hands its end pose to the TeleOp after it on a robot: run the auto, then run the TeleOp with this set.

key - Variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource.KeyBinding

The key, by name (see KeyboardGamepadSource.KEY_NAMES).

key - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

The RLOG key whose decoded value differed.

KEY_NAMES - Static variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

Every key name a KeyboardGamepadSource.Keyboard may report that this class does something with.

KeyboardGamepadSource - Class in org.horizon36596.simloop.sim.live

A person at a keyboard, standing in for an FTC gamepad.

KeyboardGamepadSource(KeyboardGamepadSource.Keyboard, int) - Constructor for class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

A source that drives one gamepad at a time from the keyboard, gamepad 1 to start with.

KeyboardGamepadSource.KeyBinding - Class in org.horizon36596.simloop.sim.live

One key's effect on the gamepad it is driving.

KeyboardGamepadSource.Keyboard - Interface in org.horizon36596.simloop.sim.live

Something that can report which keys are held down right now.

KEYMAP - Static variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

The keymap.

keys() - Method in class org.horizon36596.simloop.loop.RunResult

Every key that appears anywhere in the run, sorted.

keysDown() - Method in interface org.horizon36596.simloop.sim.live.KeyboardGamepadSource.Keyboard

Returns the names of the keys held down at this instant; see KeyboardGamepadSource.KEY_NAMES.

kinematicBody(KinematicBody) - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

A rigid structure pieces collide with and can rest in (see KinematicBody).

KinematicBody - Class in org.horizon36596.simloop.field

A rigid structure that game pieces collide with and can rest in, and that may turn about one fixed axis: a goal that tips, a flap, or a fixed frame that never moves.

KinematicBody(String, double[], double[], List<ConvexShape>, List<BodyCell>, double, double) - Constructor for class org.horizon36596.simloop.field.KinematicBody

Creates a body from its turning axis, its solid parts, its cells and its contact material.

L

label() - Method in class org.horizon36596.simloop.field.RobotContact

Returns part@structure, the form contact logs use.

lagResets() - Method in class org.horizon36596.simloop.sim.live.RealTimePacer

Returns how many times the run fell too far behind real time and the pacer stopped catching up.

lastBest() - Method in class org.horizon36596.simloop.loop.LoopDriver

The best answer so far — the baseline itself until a candidate beats it.

lastMissInches() - Method in class org.horizon36596.simloop.viz.ShotArcRecorder

The newest shot's miss distance, for an assertion or a scorer: the actual arc's closest approach to the aim point.

lastTransmission() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Returns the lines shown by the most recent RecordingTelemetry.update(), or an empty list if none has happened.

latencyMs(double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Latency between a frame's capture and the device offering its result, reported as cl and tl.

launch(int, String, double, double, double, double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Throw a held piece: it leaves the robot at the stated exit point with the stated velocity and is PossessionState.IN_FLIGHT from now until GamePieceTracker.advance(double) lands it or scores it.

Launch(double, double, double, double, double, double) - Constructor for class org.horizon36596.simloop.viz.ShotArc.Launch

A launch from the given release point, speed and direction.

LDC - Static variable in class org.horizon36596.simloop.simclock.JvmInstructions

ldc: pushes a constant; operand is a ONE-byte constant-pool index.

LDC_W - Static variable in class org.horizon36596.simloop.simclock.JvmInstructions

ldc_w: pushes a constant; operand is a two-byte constant-pool index.

LeastSquares - Class in org.horizon36596.simloop.fit

Linear least squares, written out: find the x that makes A x as close as possible to b, in the sense of the smallest sum of squared differences.

LeastSquares.Solution - Class in org.horizon36596.simloop.fit

The answer to one least-squares problem.

leftInches - Variable in class org.horizon36596.simloop.vision.RobotFramePoint

Distance to the left of the robot centre, inches; negative is to the right.

length() - Method in class org.horizon36596.simloop.viz.RobotVector3

Euclidean length.

length(byte[], int, int) - Static method in class org.horizon36596.simloop.simclock.JvmInstructions

Returns the length in bytes of the instruction at pc, operands included.

level(double, double, double, double) - Static method in class org.horizon36596.simloop.sensor.SensorMount

A level sensor looking straight out from the robot: the common mount for a distance sensor.

light(double, double, double, double, double) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

The light.

LINEAR - Enum constant in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

The segment's drawn length moves; its angle is fixed.

LinearJointDefinition - Class in org.horizon36596.simloop.viz

One telescoping stage of a linear mechanism — a segment whose drawn length moves while its angle stays put.

LinearJointDefinition(String, RobotVector3, double, double, double, String, double) - Constructor for class org.horizon36596.simloop.viz.LinearJointDefinition

Validates and stores one extending stage's drawn geometry and its travel range.

lineLevelWhen(boolean) - Method in enum class org.horizon36596.simloop.fakehardware.SwitchPolarity

The line level a switch wired this way puts on the pin.

loadClass(String, boolean) - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Loads a team class here, rewritten; any other class from the parent.

LOCALIZER_TO_FIELD_HEADING_OFFSET_RADIANS - Static variable in class org.horizon36596.simloop.field.FieldFrameTransform

Constant heading offset between the two frames, in radians: the field frame is +90° from the localizer frame.

localizerHeadingFromField(double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Localizer heading from a field-frame heading.

localizerXFromField(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Localizer X (robot forward at heading 0) from a field-frame position.

localizerYFromField(double, double) - Static method in class org.horizon36596.simloop.field.FieldFrameTransform

Localizer Y (robot left at heading 0) from a field-frame position.

localMagnification(double, double) - Method in class org.horizon36596.simloop.vision.CameraLens

How much the lens magnifies a small patch at this undistorted normalised position, relative to the pinhole: the square root of the distortion map's Jacobian determinant.

log() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

loggedLines() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Returns every line added through RecordingTelemetry.log(), oldest first, however many the log's capacity shows.

look(List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.sensor.ColorProbe

Finds the piece in view for a robot at the given pose.

LOOP_TIME_MICROSECONDS - Static variable in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

The device's own loop time, microseconds, as its LOOP_TIME register reports it.

LoopDriver - Class in org.horizon36596.simloop.loop

The bookkeeping half of the loop: scores each candidate run with its one fixed Scorer, judges it with Gate, holds the last-best, emits a Milestone when the answer gets qualitatively better, and writes the StopReport (docs/process/scorer-interface.md §5, §6, §8).

LoopDriver(Scorer, Gate, double, String, RunResult, Gate.SuppliedFacts) - Constructor for class org.horizon36596.simloop.loop.LoopDriver

Builds a driver around one fixed scorer, starting from the baseline run of the code as it stands.

LoopDriver.Candidate - Class in org.horizon36596.simloop.loop

One accepted run, with the score this driver gave it, the two facts the gate cannot measure, and the candidate's own account of what it changed.

LoopDriver.Decision - Class in org.horizon36596.simloop.loop

What the loop did with one offered run.

loopTimeUnderBudget(String, double) - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3 + vision.md §5: the loop stays inside its time budget, so the robot is never degraded in order to log.

LOOSE - Enum constant in enum class org.horizon36596.simloop.field.PossessionState

On the field floor, available to be acquired.

M

MAX_CONDITION_NUMBER - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

Above this LeastSquares.Solution.conditionNumber, the fit is flagged: the data barely tells the parameters apart.

MAX_COUNT - Static variable in class org.horizon36596.simloop.fakehardware.ColorCounts

The largest count a channel holds at the SDK's 16-bit light-sensor resolution.

MAX_FRICTION_STANDARD_ERROR - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

Above this standard error, in fractions of full power, a fitted friction is flagged.

MAX_GAP_SECONDS - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

The longest gap between two log frames that is still treated as one step, seconds.

MAX_LAG_BEFORE_RESET_SECONDS - Static variable in class org.horizon36596.simloop.sim.live.RealTimePacer

How far behind the wall clock the run may fall before the pacer stops trying to catch up, seconds.

MAX_PROXIMITY_COUNTS - Static variable in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

The largest proximity count, an 11-bit number.

MAX_RELATIVE_STANDARD_ERROR - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

Above this standard error, as a share of the value, a free speed or time constant is flagged as not pinned down by the data.

MAX_REPORTED_DISTANCE_INCHES - Static variable in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

The farthest distance the sensor ever reports, inches.

maxAccel() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

How fast a drive motor's speed chases the power it was commanded, in reciprocal seconds.

maxAccelPerSecond() - Method in class org.horizon36596.simloop.fit.FirstOrderFit.Model

Returns the sim's name for how fast velocity chases its target: 1 / time constant, per second.

maxContactTravelInches(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 1.0 in: SET BY HAND, below the radius of any piece the sim has carried (1.4 in and up), so a centre never crosses a surface between two tests (see the getter).

maxForwardAccelerationInchesPerSecondSquared() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

The most the chassis's forward velocity can change in one second, whether speeding up or braking (reversed power included), in inches/second²: the point where the wheels stop gripping and start to spin or skid.

MAXIMIZE - Enum constant in enum class org.horizon36596.simloop.loop.Objective.Direction

The raw metric is already "bigger is better" — points scored, distance covered.

maxIncidenceDegrees(double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Tags seen at this angle or more off their face normal are not detected.

maxLateralAccelerationInchesPerSecondSquared() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

DrivetrainSimConfig.maxForwardAccelerationInchesPerSecondSquared() for the sideways axis, in inches/second².

maxLateralVelocityTicksPerSecond() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

How fast the chassis actually travels sideways at full power, in the same encoder ticks/second units as DrivetrainSimConfig.maxVelocityTicksPerSecond() — which is a forward figure.

maxPosition() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

Double.POSITIVE_INFINITY: no hard stop on this side.

maxPosition() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

Returns the upper end-limit, in the mechanism's own position units.

maxSpeed() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

Top travel rate (travel units/s, > 0) at full commanded power — the free speed the actuator reaches with the load it normally carries.

maxSpeed() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

Top speed (position units/s, > 0).

maxSubstepSeconds(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.005 s: the longest physics sub-step.

maxValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The largest value logged under key.

maxVelocityTicksPerSecond() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the maximum wheel velocity, in encoder ticks per second.

meanStepSeconds - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

The mean step between frames in the windows used, seconds: the Euler step the fitted time constant applies to (see the class comment, "Which time constant").

meanValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The mean of every value logged under key.

MecanumDrivePlant - Class in org.horizon36596.simloop.plant

Closes the sim odometry loop for a mecanum drivetrain: each tick it reads the four drive FakeMotors' modelled wheel velocities and integrates the pose through MecanumPoseIntegrator.

MecanumDrivePlant(FakeMotor[], DrivetrainSimConfig) - Constructor for class org.horizon36596.simloop.plant.MecanumDrivePlant

Wires the plant to the four fake motors the robot code already drives.

MecanumPoseIntegrator - Class in org.horizon36596.simloop.plant

Kinematic mecanum forward-kinematics pose integrator.

MecanumPoseIntegrator(DrivetrainSimConfig) - Constructor for class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Builds an integrator sitting at the field origin, facing localizer +x.

Mechanism1DofPlant - Class in org.horizon36596.simloop.plant

Generic 1-DOF mechanism plant: the season-agnostic primitive every mechanism (slide, arm, turret) is built on — one class, one config per mechanism.

Mechanism1DofPlant(DcMotorSimple, MechanismSimConfig) - Constructor for class org.horizon36596.simloop.plant.Mechanism1DofPlant

Builds the plant for one powered 1-DOF mechanism, at rest at the clamped origin.

MechanismSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: the parameterized first-order dynamics + end-limits of one 1-DOF mechanism, supplied by the season layer in TeamCode.

MechanismSketch - Class in org.horizon36596.simloop.viz

Draws a MechanismSketchDefinition into AdvantageScope's Mechanism tab: it owns a PsiKit LoggedMechanism2d, keeps one ligament per joint, and updates them as the mechanism moves.

MechanismSketch(MechanismSketchDefinition) - Constructor for class org.horizon36596.simloop.viz.MechanismSketch

Builds the drawing at the mechanism's zero pose — every linear stage retracted, every pivot at the angle CAD drew it at.

MechanismSketchDefinition - Class in org.horizon36596.simloop.viz

The complete description of one mechanism as AdvantageScope should draw it: a canvas, a mount point, and an ordered chain of telescoping stages.

MechanismSketchDefinition.Builder - Class in org.horizon36596.simloop.viz

Step-by-step builder for a MechanismSketchDefinition.

metadata() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack

Returns the # key: value header entries, in file order.

metric(String) - Method in class org.horizon36596.simloop.loop.RunResult

Every value logged under key, in frame order, parsed as a double.

metricDescription() - Method in class org.horizon36596.simloop.loop.Objective

What number this objective reads out of a run, in words: "final value of Auto/finishTimeSec" for the key-based factories, or the caller's own sentence for Objective.of(java.lang.String, java.lang.String, java.lang.String, org.horizon36596.simloop.loop.Objective.Direction, org.horizon36596.simloop.loop.Objective.Budget, java.util.function.ToDoubleFunction<org.horizon36596.simloop.loop.RunResult>).

metricDescription() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns what number the objective read out of the run, in words -- see Objective#metricDescription().

metricWasUpdated(String) - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

The key really was updated during the run, rather than set once at the start and left alone.

milestone() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

The milestone this candidate produced, or null.

Milestone - Class in org.horizon36596.simloop.loop

One milestone: a point where the loop's best answer got qualitatively better, and the side-by-side evidence for saying so (docs/process/scorer-interface.md §5).

Milestone.Reason - Enum Class in org.horizon36596.simloop.loop

Why a milestone was emitted.

milestones() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns every milestone emitted so far, in order.

milestones() - Method in class org.horizon36596.simloop.loop.StopReport

Returns every milestone the loop emitted, in order.

milestoneThreshold() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns the threshold this loop was built with, in score units.

MIN_INDEPENDENT_WINDOWS - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

Fewer independent windows than this and the fit is refused rather than reported.

MIN_MAX_SUBSTEP_SECONDS - Static variable in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

The shortest maxSubstepSeconds allowed, seconds: one microsecond.

MINIMIZE - Enum constant in enum class org.horizon36596.simloop.loop.Objective.Direction

The raw metric is "smaller is better" — finish time, path error, loop period.

minPosition() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

Double.NEGATIVE_INFINITY: no hard stop on this side.

minPosition() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

Returns the lower end-limit, in the mechanism's own position units.

minValue(String) - Method in class org.horizon36596.simloop.loop.RunResult

The smallest value logged under key.

mismatches() - Method in class org.horizon36596.simloop.loop.StopReport

Every decoded-field mismatch between the accepted run and the replay.

model - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

The fitted plant.

Model(double, double, double) - Constructor for class org.horizon36596.simloop.fit.FirstOrderFit.Model

A plant with the given parameters.

mountPointInches(RobotVector3) - Method in class org.horizon36596.simloop.viz.MechanismSketchDefinition.Builder

Where the mechanism attaches to the robot.

moveChassisTo(double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

The chassis is now here, in the drive plant's frame.

moveChassisTo(double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

The chassis is now here, in the drive plant's frame.

MultiDofMechanismPlant - Class in org.horizon36596.simloop.plant

How one subsystem with several real degrees of freedom is simulated: one plant per degree of freedom, held side by side, ticked together and logged apart.

MultiDofMechanismPlant.Builder - Class in org.horizon36596.simloop.plant

Collects the degrees of freedom, in the order they are added.

N

name - Variable in class org.horizon36596.simloop.fit.GapReport.Quantity

What it is, e.g.

name() - Method in interface org.horizon36596.simloop.loop.Guardrail

What this guardrail is called, for the score breakdown a human reads.

name() - Method in class org.horizon36596.simloop.loop.Objective

What a human calls this objective.

name(String) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

The name the device reports.

nanoClock(FakeTimer) - Static method in class org.horizon36596.simloop.sim.SimElapsedTime

A nanosecond clock that reads the sim clock - the sim-side value for team code that takes its time from a LongSupplier.

nanoTime() - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces System.nanoTime().

nanoTimeOf(FakeTimer) - Static method in class org.horizon36596.simloop.sim.SimElapsedTime

Reads a sim clock in nanoseconds: its seconds times 10⁹, rounded to the nearest nanosecond.

naturalForwardDecelerationInchesPerSecondSquared() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

How hard the chassis slows itself down forwards when every drive motor is commanded zero power with FLOAT as its zero-power behaviour, in inches/second², as a positive magnitude.

naturalLateralDecelerationInchesPerSecondSquared() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

DrivetrainSimConfig.naturalForwardDecelerationInchesPerSecondSquared() for sideways coasting, in inches/second², as a positive magnitude.

NEW - Static variable in class org.horizon36596.simloop.simclock.JvmInstructions

new: creates an object; its operand is a two-byte constant-pool index of a class.

newBest() - Method in class org.horizon36596.simloop.loop.Milestone

Returns the new best.

newlyHolding() - Method in class org.horizon36596.simloop.loop.Milestone

The guardrails that were over their soft budget in Milestone.previousBest() and are holding now.

next(int) - Method in interface org.horizon36596.simloop.sim.live.GamepadInputSource

The gamepads for one loop, or null when the session is over.

next(int) - Method in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

next(int) - Method in class org.horizon36596.simloop.sim.live.RecordingGamepadInputSource

nextBetween(double, double) - Method in class org.horizon36596.simloop.field.SeededRandom

Draw a number uniformly between two bounds.

nextFraction() - Method in class org.horizon36596.simloop.field.SeededRandom

Draw the next number and advance the state by one step.

nextHeldPieceId() - Method in class org.horizon36596.simloop.field.GamePieceTracker

The one held piece with the lowest id, or -1 when the robot holds nothing.

NO_PACING - Static variable in class org.horizon36596.simloop.sim.ScenarioRunner

No pacing at all: run as fast as the machine allows.

noise(int, double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Turns on the seeded Gaussian noise the class comment describes.

NOMINAL_TICK_SECONDS - Static variable in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

The sim tick, in seconds, that the old GamePiecePhysicsConfig.Builder.substepsPerTick(int) setting was written against: 20 ms, the tick every scenario in the repo runs at.

none() - Static method in class org.horizon36596.simloop.vision.CameraOccluders

Returns nothing blocks the view.

NONE - Enum constant in enum class org.horizon36596.simloop.sensor.ContactSwitch.Contact

Nothing: the switch is released.

NONE - Static variable in interface org.horizon36596.simloop.opmode.GamepadScript

A script that never touches either gamepad: both stay at rest for the whole run.

nonFiniteKeys() - Method in class org.horizon36596.simloop.loop.RunResult

Sorted names of every key that logged a NaN or an infinity in at least one frame.

noNonFiniteValues() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: no NaN or infinity in any logged number.

nonZeroAxes() - Method in class org.horizon36596.simloop.sim.live.GamepadState

Returns every axis that is not at zero, by name, in name order.

normalized() - Method in class org.horizon36596.simloop.viz.RobotVector3

This vector scaled to length 1.

NOT_ATTEMPTED - Enum constant in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

No replay was attempted, because there is no last-best to replay.

NOT_CHECKED - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Fact

The caller did not run the check.

NOT_YET_APPLICABLE - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

The clause does not apply yet, and does not block.

notAnswerableFromALog() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

Every §3 term that cannot be answered from a run, as one list — for a report that wants to name them.

note(String) - Method in class org.horizon36596.simloop.fit.GapReport

Add a line to the notes at the end: a quantity that could not be fitted, and why, for instance.

NOTHING - Enum constant in enum class org.horizon36596.simloop.sensor.RangeHit.Target

Nothing: the ray left an unbounded field, or went up and over everything.

nothingChecked() - Static method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

Neither check was run.

nsNow() - Method in class org.horizon36596.simloop.sim.SimElapsedTime

The sim clock's current time, in nanoseconds.

nsNow() - Method in class org.horizon36596.simloop.simclock.SimClockElapsedTime

Returns the sim clock's reading, in nanoseconds.

number() - Method in class org.horizon36596.simloop.loop.Milestone

Which milestone this is, counting from 1 in emission order.

O

objective() - Method in class org.horizon36596.simloop.loop.Scorer

Returns the objective being measured.

Objective - Class in org.horizon36596.simloop.loop

What the loop is trying to make better, declared up front (docs/process/scorer-interface.md §2).

Objective.Budget - Class in org.horizon36596.simloop.loop

The human's rough estimate of what this objective is worth spending.

Objective.Direction - Enum Class in org.horizon36596.simloop.loop

Which way a raw metric points.

Objective.NonFiniteMetricException - Exception in org.horizon36596.simloop.loop

Thrown when an objective's metric measured NaN or an infinity.

objectiveIdentity() - Method in class org.horizon36596.simloop.loop.Scorer.Score

How this score's objective reads, in one line, for a "not comparable" message: "auto finish time (MINIMIZE final value of Auto/finishTimeSec) on 'auto'".

objectiveName() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns what the objective is called.

objectiveValue() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the objective's contribution, already oriented so bigger is better.

observe(List<GamePiece>, double, double, double) - Method in class org.horizon36596.simloop.vision.SimCamera

Work out what the camera sees this tick.

observe(List<GamePiece>, double, double, double, CameraOccluders) - Method in class org.horizon36596.simloop.vision.SimCamera

Work out what the camera sees this tick when solid things can block the view: the field's structures, the robot's own body, and the other pieces.

observe(AprilTagLayout, double, double, double) - Method in class org.horizon36596.simloop.vision.SimTagCamera

Every tag in the layout the camera sees from this robot pose.

observe(AprilTagLayout, double, double, double, CameraOccluders) - Method in class org.horizon36596.simloop.vision.SimTagCamera

Every tag in the layout the camera sees from this robot pose, with more boxes in the way than the ones given at construction: boxes that move from tick to tick, and the robot's own body.

obstacle(ObstacleBox) - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

A fixed solid box pieces bounce off (see ObstacleBox).

OBSTACLE - Enum constant in enum class org.horizon36596.simloop.sensor.ContactSwitch.Contact

One of the world's ObstacleBoxes.

OBSTACLE - Enum constant in enum class org.horizon36596.simloop.sensor.RangeHit.Target

One of the world's ObstacleBoxes.

ObstacleBox - Class in org.horizon36596.simloop.field

A fixed, solid, axis-aligned box on the field that game pieces bounce off: a goal structure's frame, a flower's foot, a wall segment.

ObstacleBox(String, double, double, double, double, double, double) - Constructor for class org.horizon36596.simloop.field.ObstacleBox

Creates a box from its six faces, field frame, inches.

OCCLUDED - Enum constant in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

An obstacle box blocks the line of sight to at least one corner.

occluders(List<ObstacleBox>) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Boxes that block the line of sight to a tag.

OCCLUSION_SAMPLES - Static variable in class org.horizon36596.simloop.vision.SimCamera

Rays the occluded SimCamera.observe(List, double, double, double, CameraOccluders) casts per piece: the centre, six at 0.45 of the radius and twelve at 0.85, spread over the disc the camera sees.

odometryName() - Method in interface org.horizon36596.simloop.config.SimRobotConfig

Returns the config name of the odometry/localizer device the drivetrain reads pose from.

of(double[], Map<String, double[]>) - Static method in class org.horizon36596.simloop.fit.RlogTimeSeries

A series from values already in memory - how a test builds one without writing a file.

of(String) - Static method in class org.horizon36596.simloop.loop.Objective.Budget

A budget the human stated, in their own words: "about an hour", "50k tokens".

of(String, String, String, Objective.Direction, Objective.Budget, ToDoubleFunction<RunResult>) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective computed by an arbitrary function of the run.

of(List<ObstacleBox>, List<ObstacleBox>) - Static method in class org.horizon36596.simloop.vision.CameraOccluders

Boxes in both frames.

of(Map<String, Float>, Set<String>) - Static method in class org.horizon36596.simloop.sim.live.GamepadState

A state from explicit values.

of(ObstacleBox) - Static method in class org.horizon36596.simloop.field.OrientedBox

Returns the field obstacle as an oriented box with the same name, field frame inches.

of(Gate.Fact, Gate.Fact) - Static method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

States both facts explicitly.

of(Scorer.Score) - Static method in class org.horizon36596.simloop.loop.Gate.LastBest

There is a last-best, and here it is.

offer(String, RunResult, Gate.SuppliedFacts) - Method in class org.horizon36596.simloop.loop.LoopDriver

Score one candidate run with this driver's scorer, judge it, and, if the gate accepts it, make it the new last-best.

offeredCount() - Method in class org.horizon36596.simloop.loop.LoopDriver

Returns how many candidates have been offered, not counting the baseline.

offeredCount() - Method in class org.horizon36596.simloop.loop.StopReport

Returns how many candidates were offered to the gate, not counting the baseline.

ofFinalValue(String, String, String, Objective.Direction, Objective.Budget) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective whose headline number is the last value logged under one RLOG key — the common case (a finish time, a final pose error, a count at the end of a run).

ofMaxValue(String, String, String, Objective.Direction, Objective.Budget) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective whose headline number is the largest value logged under one RLOG key.

ofMeanValue(String, String, String, Objective.Direction, Objective.Budget) - Static method in class org.horizon36596.simloop.loop.Objective

Declares an objective whose headline number is the mean of every value under one RLOG key.

ofPoints(double...) - Static method in class org.horizon36596.simloop.viz.ShotArc

Builds an arc from points already known — sampled game-piece positions out of a physics sim, or a tracked ball out of a camera.

OneDofPlant - Interface in org.horizon36596.simloop.plant

The surface shared by every plant in this package that models exactly one degree of freedom: Mechanism1DofPlant (power-driven, through a motor or a continuous-rotation servo) and PositionalServoPlant (command-driven, through a positional servo).

opMode() - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Returns the OpMode this runner runs.

OpModeException - Exception in org.horizon36596.simloop.opmode

An OpMode run could not be completed: the OpMode's own code threw, or it stopped cooperating with the sim (it ran without ever reaching a lifecycle check, or it did not return after STOP).

opModeIdle(LinearOpMode) - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces idle() called on a LinearOpMode.

opModeName() - Method in class org.horizon36596.simloop.loop.RunResult

What ran.

OpModePhase - Enum Class in org.horizon36596.simloop.opmode

Where an OpModeRunner run is in the Driver Station's INIT / PLAY / STOP sequence.

OpModeRunner - Class in org.horizon36596.simloop.opmode

Runs a team's own OpMode, unchanged, against fake hardware: an iterative OpMode or a LinearOpMode, headless, one fixed sim tick at a time, and deterministically.

OpModeRunner(OpMode, FakeHardwareMap) - Constructor for class org.horizon36596.simloop.opmode.OpModeRunner

Prepares a run of opMode against hardwareMap.

OpModeRunResult - Class in org.horizon36596.simloop.opmode

What an OpModeRunner run did, for a test to assert on.

opModeSleep(LinearOpMode, long) - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces sleep(ms) called on a LinearOpMode, whatever the duration's source: a constant, a variable or a sum.

org.horizon36596.simloop.config - package org.horizon36596.simloop.config

org.horizon36596.simloop.fakehardware - package org.horizon36596.simloop.fakehardware

org.horizon36596.simloop.field - package org.horizon36596.simloop.field

org.horizon36596.simloop.fit - package org.horizon36596.simloop.fit

org.horizon36596.simloop.loop - package org.horizon36596.simloop.loop

org.horizon36596.simloop.opmode - package org.horizon36596.simloop.opmode

org.horizon36596.simloop.plant - package org.horizon36596.simloop.plant

org.horizon36596.simloop.sensor - package org.horizon36596.simloop.sensor

org.horizon36596.simloop.sim - package org.horizon36596.simloop.sim

org.horizon36596.simloop.sim.live - package org.horizon36596.simloop.sim.live

org.horizon36596.simloop.simclock - package org.horizon36596.simloop.simclock

org.horizon36596.simloop.vision - package org.horizon36596.simloop.vision

org.horizon36596.simloop.viz - package org.horizon36596.simloop.viz

orient(double, RunResult) - Method in class org.horizon36596.simloop.loop.Objective

Validates an already-measured raw metric and orients it so that bigger is better.

OrientedBox - Class in org.horizon36596.simloop.field

A solid box that may be turned any way: a centre, three perpendicular unit axes and a half extent along each.

OrientedBox(String, double, double, double, double[][], double, double, double) - Constructor for class org.horizon36596.simloop.field.OrientedBox

A box from its centre, its three axes and its half extents, all in the frame it lives in.

origin() - Static method in class org.horizon36596.simloop.viz.RobotVector3

The origin, (0, 0, 0).

OUT_OF_RANGE - Enum constant in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

The tag centre is nearer than the minimum or farther than the maximum range.

outcome() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

How the clause came out.

outputErrorRms - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

RMS of measured - simulated velocity when the fitted model is run open-loop from the log's power, in velocity units: the real "does this model reproduce the log" number.

outputErrorRms(FirstOrderFit.Model, FirstOrderFit.Samples, double, double) - Static method in class org.horizon36596.simloop.fit.FirstOrderFit

Run a model open-loop from the log's power and compare its velocity with the logged one: the RMS of measured - simulated, in velocity units, over the frames in [fromSeconds, toSeconds].

outputErrorRms(FirstOrderFit.Model, FirstOrderFit.Samples, double, double, double) - Static method in class org.horizon36596.simloop.fit.FirstOrderFit

As FirstOrderFit.outputErrorRms(Model, Samples, double, double), with the rest band (velocity units) given: pass a fit's FirstOrderFit.restBand(org.horizon36596.simloop.fit.FirstOrderFit.Samples, double, double) so the simulation's friction deadband is exactly the one the fit used, for the fitted model and the sim's alike.

OUTSIDE_IMAGE - Enum constant in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

At least one corner projects outside the image.

OVER_BUDGET - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Checked against the run; a soft budget was exceeded.

overBudget(double, String) - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Graded penalty for a soft budget overrun (§1: "graded when a soft budget is exceeded").

overlap(OrientedBox, OrientedBox) - Static method in class org.horizon36596.simloop.field.OrientedBox

Whether two boxes overlap: the separating-axis test.

overlapsPiece(double, double, double, double, double, double) - Method in class org.horizon36596.simloop.field.TriggerVolume

True when this volume, carried by a robot at the given field pose, overlaps the given piece.

P

parseLine(String, int) - Static method in class org.horizon36596.simloop.sim.live.GamepadInputTrack

Parse one frame line.

passedInSimFirst() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3 / domain R8: code may actuate real hardware only after the same code passed in sim.

path() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Writer

Returns the file being written.

pause() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Stops polling and keeps the last result, as the SDK's pause() does.

PEDRO_PATHING - Static variable in class org.horizon36596.simloop.simclock.SimClockLoader

Pedro Pathing's package prefix, to add to the team packages when its follower, timers, PID controllers and localizers should read the sim clock: teamPackages("org.firstinspires.ftc.teamcode.", "com.seattlesolvers.solverslib.", PEDRO_PATHING).

penalty() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

How much to subtract from the objective.

perimeter(double, double) - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

A perimeter wall at |x| == halfWidthInches and |y| == halfLengthInches.

PERIMETER - Static variable in class org.horizon36596.simloop.field.RobotContact

The structure name a contact with a perimeter wall carries.

phase() - Method in exception org.horizon36596.simloop.opmode.OpModeException

Returns the phase the run was in when it failed.

physics(GamePiecePhysicsConfig) - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

The physics numbers; GamePiecePhysicsConfig.defaults() when not set.

PIECE - Enum constant in enum class org.horizon36596.simloop.sensor.ContactSwitch.Contact

A game piece that is not held.

PIECE - Enum constant in enum class org.horizon36596.simloop.sensor.RangeHit.Target

A game piece that is not held.

pieceColour(String, int) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

Paints every piece of one kind.

pieceInertiaFactor(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 2/3: a thin hollow sphere, I = 2/3 m r^2.

pieceMass(String, double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

The mass of one kind of piece, in whatever unit the season uses (pounds, kilograms, or "one piece"), the same unit as any dynamic body's.

pieces(int) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

Pieces whose kind has no colour of its own.

pieceToFloorFriction3d(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Coulomb friction between the floor and a piece in the 3-D model when it lands, with spin: the floor's grip on the sliding contact point both slows the piece and spins it, as against a KinematicBody.

pieceToFloorRestitution(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.30: SET BY HAND.

pieceToFloorTangentialRetention(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

The fraction of its horizontal speed an in-flight piece keeps each time it hits the floor and bounces, 0 to 1.

pieceToObstacleRestitution(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.30.

pieceToObstacleRestitution3d(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

An ObstacleBox's restitution for a piece in the 3-D model, when it differs from a loose piece's (GamePiecePhysicsConfig.Builder.pieceToObstacleRestitution).

pieceToPieceFriction(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.6.

pieceToPieceRestitution(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.68.

pieceToPieceRestitution3d(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

The piece-to-piece restitution for pieces in the 3-D model (in a world with bodies: in flight, or resting in a cell), when it differs from the loose pieces' on the floor (GamePiecePhysicsConfig.Builder.pieceToPieceRestitution).

pieceToRobotRestitution(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.05: a pushed ball barely rebounds.

pieceToWallRestitution(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.35.

pieceToWallRestitution3d(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

The perimeter wall's restitution for a piece in the 3-D model, when it differs from a loose piece's (GamePiecePhysicsConfig.Builder.pieceToWallRestitution).

PIPELINE_COUNT - Static variable in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Pipelines a Limelight holds, indices 0 to this minus 1.

PIPELINE_TYPE - Static variable in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

The pipelineType every fake pipeline reports: an AprilTag (fiducial) pipeline.

pipelineSwitch(int) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Switches pipeline for the frames captured from the next tick on.

pitchRad - Variable in class org.horizon36596.simloop.viz.ShotArc.Launch

Elevation above horizontal, radians — the hood angle as an exit angle.

pixelCountOfPiece(int) - Method in class org.horizon36596.simloop.vision.SimFrame

How many pixels show a piece.

placedOnRobot(double, double, double) - Method in class org.horizon36596.simloop.field.OrientedBox

This box, built in a robot's frame, placed in the field: turned by the robot's heading about the vertical and moved to the robot's centre (the robot frame's origin is on the floor, so heights are unchanged).

placedOnRobot(double, double, double) - Method in class org.horizon36596.simloop.field.RobotShape

Returns every box placed in the field for a robot at this pose, in the same order.

planar(double, double, double) - Static method in class org.horizon36596.simloop.vision.RigidTransform3

A robot on the floor: a translation in the floor plane and a turn about +z.

PNG_COMMENT - Static variable in class org.horizon36596.simloop.vision.SimFrame

The text the PNG's tEXt chunk carries, so a saved frame cannot pass for a camera image.

poses(double...) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Every component's pose for these joint values.

PositionalServoPlant - Class in org.horizon36596.simloop.plant

1-DOF mechanism plant for a joint driven by a positional servo — the servo-side twin of Mechanism1DofPlant.

PositionalServoPlant(FakeServo, PositionalServoSimConfig) - Constructor for class org.horizon36596.simloop.plant.PositionalServoPlant

Builds the plant for one servo-driven joint, parked at the position its current command maps to.

PositionalServoSimConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: everything a PositionalServoPlant needs to turn a servo command in [0, 1] into a real mechanism position that takes time to get there.

positionAtCommandOne() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

Mechanism position (units) the joint physically reaches when the servo's scaled command is 1.0.

positionAtCommandZero() - Method in interface org.horizon36596.simloop.config.PositionalServoSimConfig

Mechanism position (units) the joint physically reaches when the servo's scaled command is 0.0.

PossessionState - Enum Class in org.horizon36596.simloop.field

The complete, fixed set of possession states one game piece can be in.

powerSource - Variable in class org.horizon36596.simloop.fit.GapReport.Quantity

Where the power came from: the key, or how several keys were mixed.

prefix(int) - Method in class org.horizon36596.simloop.viz.ShotArc

The first count points of this arc — where the piece has got to count − 1 samples after launch.

PRESSED_IS_HIGH - Enum constant in enum class org.horizon36596.simloop.fakehardware.SwitchPolarity

Pressed drives the line HIGH; released reads LOW.

PRESSED_IS_LOW - Enum constant in enum class org.horizon36596.simloop.fakehardware.SwitchPolarity

Pressed pulls the line LOW; released reads HIGH.

previousBest() - Method in class org.horizon36596.simloop.loop.Milestone

Returns what this milestone is measured from: the best at the previous milestone, or the accepted baseline before the first one; null when this is Milestone.Reason.FIRST_ACCEPTED_CANDIDATE.

prismatic(String, int, RobotVector3, RobotVector3) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel.Builder

Adds a component that slides along direction from origin.

PRISMATIC - Enum constant in enum class org.horizon36596.simloop.viz.ArticulatedRobotModel.JointType

Slides along a direction through the joint origin.

project(double, double, double) - Method in class org.horizon36596.simloop.vision.CameraLens

Where a point in the optical frame lands in the image, distortion included.

proximityCountsAt(DistanceUnit, double) - Static method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

The proximity count the SDK's curve reads back as distance: the curve inverted, rounded to a whole count and clipped to 0..FakeRevColorSensorV3.MAX_PROXIMITY_COUNTS.

pushOutOf(double, double, double, double, double, ObstacleBox) - Static method in class org.horizon36596.simloop.field.FootprintContact

The push that takes a rotated robot footprint out of a box, or null when they do not overlap.

Q

quantities() - Method in class org.horizon36596.simloop.fit.GapReport

Returns the quantities added so far, for a caller that wants the numbers as well as the page.

quantity(String) - Method in class org.horizon36596.simloop.fit.GapReport

Returns the quantity of that name.

Quantity(String, String, String, String, FirstOrderFit.Result, FirstOrderFit.Model, double) - Constructor for class org.horizon36596.simloop.fit.GapReport.Quantity

One fitted quantity, with the sim's parameters beside it.

R

RangeFinder - Class in org.horizon36596.simloop.sensor

Binds a distance sensor to the simulated field: casts one straight ray from a SensorMount on the robot and reports the first thing it hits - the perimeter wall, an ObstacleBox, a game piece that is not held, or the floor.

RangeFinder(SensorMount) - Constructor for class org.horizon36596.simloop.sensor.RangeFinder

A ray from one mount.

RangeHit - Class in org.horizon36596.simloop.sensor

What a RangeFinder ray hit first, and how far along the ray it was.

RangeHit.Target - Enum Class in org.horizon36596.simloop.sensor

What sort of thing stopped the ray.

rangeInches(double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Detection range, lens to tag centre.

rawMetric() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the metric in its own units and direction, for a human reading a milestone.

rawMetric(RunResult) - Method in class org.horizon36596.simloop.loop.Objective

The metric exactly as measured, in its own units and its own direction — 12.4 seconds is 12.4 here even for a minimizing objective.

read(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

read(int, int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

read(Path) - Static method in class org.horizon36596.simloop.sim.live.GamepadInputTrack

Read a whole track file.

read(Path, Collection<String>) - Static method in class org.horizon36596.simloop.fit.RlogTimeSeries

Read the given keys from an RLOG.

read8() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

read8(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

readTimeStamped(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

readTimeStamped(int, int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

RealTimePacer - Class in org.horizon36596.simloop.sim.live

Slows a sim run down to real time, so a person can drive it.

RealTimePacer() - Constructor for class org.horizon36596.simloop.sim.live.RealTimePacer

Paces against the JVM's monotonic clock, System.nanoTime(), sleeping with Thread.sleep(long).

RealTimePacer(LongSupplier, RealTimePacer.Sleeper) - Constructor for class org.horizon36596.simloop.sim.live.RealTimePacer

A pacer on an injected clock, for tests.

RealTimePacer.Sleeper - Interface in org.horizon36596.simloop.sim.live

How the pacer waits.

reason() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns why, in a sentence a human can act on.

reasons() - Method in class org.horizon36596.simloop.loop.Milestone

Every reason this milestone was emitted.

record(String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Publish this tick's possession state to the RLOG under keyPrefix, then clear the transition backlog.

record(String) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Write every degree of freedom's modelled position and velocity to the log, under <keyPrefix>/<dof>/....

record(String) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Publish the current pose to AdvantageScope under key.

record(String) - Method in class org.horizon36596.simloop.viz.ShotArcRecorder

Writes every slot to the log.

record(String) - Method in class org.horizon36596.simloop.viz.TurretSketch

Publish the ghost pose, the ride-along mechanism and the aim pose under key.

record(String, List<GamePiece>) - Method in class org.horizon36596.simloop.vision.SimCamera

Publish the last SimCamera.observe(java.util.List<org.horizon36596.simloop.field.GamePiece>, double, double, double) result under keyPrefix/<name>/....

RecordingGamepadInputSource - Class in org.horizon36596.simloop.sim.live

Passes another source's frames through unchanged and writes each one to a track as it goes.

RecordingGamepadInputSource(GamepadInputSource, GamepadInputTrack.Writer) - Constructor for class org.horizon36596.simloop.sim.live.RecordingGamepadInputSource

A source that passes on every frame of source, writing each one to track first.

RecordingTelemetry - Class in org.horizon36596.simloop.opmode

A Telemetry that keeps what the Driver Station would have shown, so a test can read it back.

RecordingTelemetry() - Constructor for class org.horizon36596.simloop.opmode.RecordingTelemetry

Creates an empty telemetry with the SDK's default separators and auto-clear on.

refusals() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns the refusals recorded so far, first first, once per message and at most ten.

refused(RuntimeException) - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Records a refusal, just before it is thrown: a rewritten wait this loader's run cannot give sim time (a Thread.sleep on a thread the sim does not step, a wait with no run going), or a team class it cannot rewrite (a this::sleep in a class first loaded mid-run).

register(String, T) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

Registers a fake device (which is both an SDK HardwareDevice and a FakeDevice) under name, exactly as the real robot-configuration parser registers the hardware it replaces.

releaseScoredPiece(int, String, double, double, double, double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

A goal lets go of a piece it was holding: the piece leaves the goal at the stated point with the stated velocity and is PossessionState.IN_FLIGHT until GamePieceTracker.advance(double) lands it — the season's model of a goal that empties itself (a tipping goal dumps its contents back onto the floor).

reloadPipeline() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Returns true: there is no pipeline file to reload, and the fake's pipelines never change.

remove(SerialNumber, String, HardwareDevice) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

The SDK's own remove — every removal ends here, including the one DeviceMapping.put makes when a registration replaces a device — followed by pinning the enumeration order.

removeAction(Object) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

removeItem(Telemetry.Item) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

removeLine(Telemetry.Line) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

removeVelocityInto(double, double) - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Remove the part of the chassis velocity that points into a contact; see MecanumPoseIntegrator.removeVelocityInto(double, double).

removeVelocityInto(double, double) - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Stops the chassis moving into something it has hit: the part of its velocity that points against (normalX, normalY) is removed, and the rest is kept, so a robot driven into a wall at an angle slides along it instead of keeping its speed into it.

render() - Method in class org.horizon36596.simloop.fit.GapReport

Returns the report as markdown.

render(List<GamePiece>, double, double, double, CameraOccluders, AprilTagLayout) - Method in class org.horizon36596.simloop.vision.SimFrameRenderer

Draws one frame.

replaceWorld(FieldWorld) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Swap the world this tracker's physics runs in, keeping every piece where it is and in the state it is in.

replay() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack

A source that plays this track back, one frame per loop, and ends after the last one.

replay(RunResult) - Method in interface org.horizon36596.simloop.loop.StopReport.ScenarioReplayer

Re-runs the scenario that produced accepted and returns the path to the new RLOG.

replayRlog() - Method in class org.horizon36596.simloop.loop.StopReport

Returns where the replay wrote its RLOG, or null when nothing was replayed.

reportedScore() - Method in class org.horizon36596.simloop.loop.StopReport

The best score, once it has been reproduced.

reportPathFor(Path) - Static method in class org.horizon36596.simloop.fit.GapReport

Returns robot.rlog to robot.fit.md, in the same directory.

REPRODUCED - Enum constant in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Replayed, and every decoded field matched.

reproduction() - Method in class org.horizon36596.simloop.loop.StopReport

Returns how the second run came out.

requireFinite(double, String, String) - Static method in class org.horizon36596.simloop.viz.JointDefinition

Shared validation helper: rejects a non-finite number with a message naming the joint and the field, so a bad CAD export says which number it was.

reset() - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Returns the pose to the origin, facing localizer +x (robot forward), with the chassis at rest.

reset() - Method in class org.horizon36596.simloop.sim.FakeTimer

Reset to zero (e.g.

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.AbstractFakeDevice

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Resets the direction to FORWARD, which is what CRServoImpl does here and what AbstractFakeDevice's no-op default would have missed.

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Restores FORWARD and forgets any motor type set with FakeExternalEncoder.setMotorType(com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType), so FakeExternalEncoder.getMotorType() reports the constructor-derived type again.

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Restores FORWARD, forgets any motor type set with FakeMotor.setMotorType(com.qualcomm.robotcore.hardware.configuration.typecontainers.MotorConfigurationType) (so FakeMotor.getMotorType() reports the constructor-derived type again), and puts the hub's default PID coefficients back.

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

The SDK's reset between OpModes - default parameters, software gain back to 1 - followed at once by the initialization the SDK would otherwise do on the next lookup (see the class javadoc).

resetDeviceConfigurationForOpMode() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Restores what ServoImpl.resetDeviceConfigurationForOpMode restores: the full [0, 1] scale range and FORWARD.

resetYaw() - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Makes the current robot heading read as yaw zero, through the SDK helper's own reset.

residuals - Variable in class org.horizon36596.simloop.fit.LeastSquares.Solution

b - A x for each row, in row order.

REST_FRACTION - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

Below this share of the FirstOrderFit.REST_PERCENTILE speed in the fitted time range, a velocity counts as "not moving".

REST_PERCENTILE - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

Which speed the rest band is a share of: this percentile of |v| over the frames in the fitted time range.

restBand - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Below this speed, velocity units, the fit treated the mechanism as at rest.

restLayers(int, double, double, double) - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

Stack the rows into layers: after rowsPerLayer rows the next row starts a new layer, offset from the first by this step, field-frame inches.

restPoint(double, double, double) - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

Where the first scored piece is parked for the viewer, field-frame inches.

restRows(int, double, double, double) - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

Wrap the parked pieces into rows, so a goal that fills up keeps them inside it: after piecesPerRow pieces the next starts a new row, offset from the first row by this step, field-frame inches.

restSpacing(double, double, double) - Method in class org.horizon36596.simloop.field.ScoringVolume.Builder

The step from each parked piece to the next, field-frame inches: e.g.

restSpeedInchesPerS(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 2 in/s: below this a rolling piece snaps to rest.

REV_2M_MAX_RANGE_MM - Static variable in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

The farthest target a REV 2m sees, millimetres.

REV_2M_NO_TARGET_MM - Static variable in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

What a REV 2m reports with nothing in range, millimetres.

REVIEW_PASSED - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

An independent review approved the diff (R10).

reviewPassed() - Method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

What the caller said about the independent review.

revolute(String, int, RobotVector3, RobotVector3) - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel.Builder

Adds a component that turns about axis through origin.

REVOLUTE - Enum constant in enum class org.horizon36596.simloop.viz.ArticulatedRobotModel.JointType

Rotates about an axis through the joint origin.

REVOLUTE - Enum constant in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

The segment's drawn angle moves; its length is fixed.

RevoluteJointDefinition - Class in org.horizon36596.simloop.viz

One pivot of a mechanism — a segment of fixed length whose drawn angle moves.

RevoluteJointDefinition(String, RobotVector3, RobotVector3, double, double, double, String, double) - Constructor for class org.horizon36596.simloop.viz.RevoluteJointDefinition

Validates and stores one pivoting segment's drawn geometry and its angle range.

rewrittenCallSites() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns how many calls, constructions and method references the rewrites have moved so far.

rewrittenClasses() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns the names of the classes defined here with at least one clock call moved, in load order.

RigidTransform3 - Class in org.horizon36596.simloop.vision

A rigid transform in 3D: a rotation and then a translation, the pose of one frame expressed in another.

RlogDecodedCompare - Class in org.horizon36596.simloop.sim

Compares two RLOG files by decoded field value, not raw bytes (BACKLOG B3, docs/process/scorer-interface.md §2/§7).

RlogDecodedCompare.Mismatch - Class in org.horizon36596.simloop.sim

One decoded-field mismatch between two runs; frameIndex is -1 for a frame-count mismatch.

rlogPath() - Method in class org.horizon36596.simloop.loop.RunResult

Where the RLOG this was decoded from lives.

RlogTimeSeries - Class in org.horizon36596.simloop.fit

The numeric columns of an RLOG, with each frame's time: what a fit reads.

rmsResidual - Variable in class org.horizon36596.simloop.fit.LeastSquares.Solution

Root-mean-square of LeastSquares.Solution.residuals, in the units of b.

robot(int) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

Robot boxes no prefix matches.

ROBOT - Static variable in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Index meaning "attached straight to the robot body".

robotBody(List<ObstacleBox>) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A.Builder

Boxes fixed to the robot that block the line of sight to a tag: the robot's own chassis, an arm.

RobotContact - Class in org.horizon36596.simloop.field

One part of a robot touching one thing on the field: which part, which structure, how deep, and the shortest horizontal move of the robot that would take that part back out.

RobotContact(String, String, double, double, double) - Constructor for class org.horizon36596.simloop.field.RobotContact

Creates a contact from the part, the structure and the move that frees it.

robotFootprint(double, double) - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

The robot as a rectangle in its own frame, centred on its pose, that pushes loose pieces out of its way.

RobotFramePoint - Class in org.horizon36596.simloop.vision

A point on the floor plane in the robot frame: how far ahead of the robot's centre and how far to its left, in inches.

RobotFramePoint(double, double) - Constructor for class org.horizon36596.simloop.vision.RobotFramePoint

A point on the floor, robot frame.

robotHeight(double) - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

How tall the robot is, inches above the floor.

RobotShape - Class in org.horizon36596.simloop.field

The robot as a compound of solid boxes in its own frame: a few for the chassis, a few for each mechanism, posed for the mechanisms' current positions.

RobotShape(List<OrientedBox>) - Constructor for class org.horizon36596.simloop.field.RobotShape

Creates a robot shape from its boxes.

RobotVector3 - Class in org.horizon36596.simloop.viz

An immutable 3-D vector in the robot frame: +X robot-forward (out the nose), +Y robot-left, +Z up, with the origin at the centre of the drivetrain footprint at floor level.

RobotVector3(double, double, double) - Constructor for class org.horizon36596.simloop.viz.RobotVector3

Builds a vector in the robot frame from its three components.

rollingDecelerationInchesPerS2(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 28 in/s² (about 0.073 g).

rotate(double, double, double, double, double[]) - Method in class org.horizon36596.simloop.field.KinematicBody

Rotate a vector about this body's axis (Rodrigues' formula): from local to field for +angle, from field to local for -angle.

rotation(int, int) - Method in class org.horizon36596.simloop.vision.RigidTransform3

One entry of the rotation matrix.

rSquared - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Share of the windows' velocity changes the fit explains: 1 is perfect.

rSquared - Variable in class org.horizon36596.simloop.fit.LeastSquares.Solution

1 - (residual sum of squares) / (spread of b about its mean): 1 is perfect.

run() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns the finished run this candidate was scored from.

run() - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Runs the OpMode from INIT to STOP without writing a log.

run(String, SimRobotConfig, FakeTimer, int, double, Path, ScenarioRunner.ScenarioBody) - Static method in class org.horizon36596.simloop.sim.ScenarioRunner

Runs ticks fixed-timestep sim ticks against timer, writing everything PsiKit logs to rlogPath.

runIsComplete() - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

The run produced every frame it was asked for.

runLogged(SimRobotConfig, Path) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Runs the OpMode from INIT to STOP through ScenarioRunner, which writes every tick to a PsiKit RLOG and refuses to return a log it cannot vouch for.

RunResult - Class in org.horizon36596.simloop.loop

One finished sim run, read back off disk so it can be scored.

RunResult.MetricNotFoundException - Exception in org.horizon36596.simloop.loop

Thrown when a metric names a key the run never logged.

RunResult.MetricNotNumericException - Exception in org.horizon36596.simloop.loop

Thrown when a metric's logged value is not a number.

runUntil(String, SimRobotConfig, FakeTimer, double, Path, ScenarioRunner.TickGate, ScenarioRunner.TickPacer, List<? extends LogDataReceiver>, ScenarioRunner.ScenarioBody) - Static method in class org.horizon36596.simloop.sim.ScenarioRunner

Like ScenarioRunner.run(java.lang.String, org.horizon36596.simloop.config.SimRobotConfig, org.horizon36596.simloop.sim.FakeTimer, int, double, java.nio.file.Path, org.horizon36596.simloop.sim.ScenarioRunner.ScenarioBody), for a run whose length is not known in advance: a live session that ends when the driver stops, or the replay of one.

S

safeStopAtEnd(String, double) - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: the robot comes to a safe stop when the run ends — as far as a log can tell.

Samples(double[], double[], double[], double[], double) - Constructor for class org.horizon36596.simloop.fit.FirstOrderFit.Samples

A record whose friction acts against its own velocity: one wheel, one flywheel.

Samples(double[], double[], double[], double[], double, double[]) - Constructor for class org.horizon36596.simloop.fit.FirstOrderFit.Samples

A record whose friction direction the caller works out: a mix of several wheels, where each wheel's friction follows that wheel's own direction.

scaleRange(double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

scenarioName() - Method in class org.horizon36596.simloop.loop.Objective

The scenario this objective is measured over.

scenarioName() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns which scenario this was measured over.

ScenarioRunner - Class in org.horizon36596.simloop.sim

Runs one headless sim scenario end-to-end: owns the entire PsiKit lifecycle (sim-harness §2-3) and the fixed-timestep tick loop, so a test does not hand-write it (BACKLOG "scenario runner" / area B).

ScenarioRunner.ScenarioBody - Interface in org.horizon36596.simloop.sim

One scenario's per-tick behavior: command the robot, advance its fake hardware/plants, log fields.

ScenarioRunner.TickGate - Interface in org.horizon36596.simloop.sim

Decides, before each tick, whether that tick runs.

ScenarioRunner.TickPacer - Interface in org.horizon36596.simloop.sim

Runs after each tick has been logged, and may make the run wait.

scheduler() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns the scheduler of the run in progress, or null if none.

score() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

The score to beat.

score() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

Returns what the driver's scorer made of that run.

score() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

What the driver's scorer made of the run, accepted or not.

score(int, String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Place a held piece directly into a scoring location — a deposit mechanism that sets a piece down rather than throwing it — leaving it PossessionState.SCORED and out of play.

score(RunResult) - Method in class org.horizon36596.simloop.loop.Scorer

Scores one finished run.

SCORED - Enum constant in enum class org.horizon36596.simloop.field.PossessionState

Inside a scoring location and out of the ordinary play: GamePieceTracker.tryAcquire(org.horizon36596.simloop.field.TriggerVolume, boolean) never takes a scored piece, so a trigger volume sweeping over one does nothing.

scoreInto(int, String) - Method in class org.horizon36596.simloop.field.GamePieceTracker

A held piece is scored straight into one of the world's goals — a deposit by hand into a goal the robot is touching, rather than a flight.

Scorer - Class in org.horizon36596.simloop.loop

Turns a finished run into one number, plus the breakdown that number came from (docs/process/scorer-interface.md §1, §8).

Scorer(Objective, List<Guardrail>) - Constructor for class org.horizon36596.simloop.loop.Scorer

Builds a scorer from one objective and the envelope terms that can disqualify a run.

Scorer.Score - Class in org.horizon36596.simloop.loop

One run's score: the total, and every term that produced it.

scoringVolume(ScoringVolume) - Method in class org.horizon36596.simloop.field.FieldWorld.Builder

A goal pieces are counted in (see ScoringVolume).

ScoringVolume - Class in org.horizon36596.simloop.field

A region of the field that an in-flight game piece scores by entering: the mouth of a goal.

ScoringVolume.Builder - Class in org.horizon36596.simloop.field

One named setter per fact; ScoringVolume.Builder.box(double, double, double, double, double, double) and ScoringVolume.Builder.restPoint(double, double, double) are mandatory.

SeededRandom - Class in org.horizon36596.simloop.field

A seeded random-number generator for anything on the field that is random on a real field and must still replay identically in the sim: where the contents of a tipped goal land, for example.

SeededRandom(int) - Constructor for class org.horizon36596.simloop.field.SeededRandom

Creates a generator that starts from seed.

SensorMount - Class in org.horizon36596.simloop.sensor

Where a sensor sits on the robot and which way it looks.

SensorMount(double, double, double, double, double) - Constructor for class org.horizon36596.simloop.sensor.SensorMount

Validates and stores one mount.

sensorNoise(int, double) - Method in class org.horizon36596.simloop.vision.SimFrameRenderer.Builder

Independent Gaussian noise on every channel of every pixel, seeded.

setActual(ShotArc) - Method in class org.horizon36596.simloop.viz.ShotArcRecorder

Sets the newest shot's actual arc, whole or so far.

setAutoClear(boolean) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

setBodyHeld(String, boolean) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Hold a dynamic body still where it is, or let it go: a latch, a detent, a pin a rule lifts.

setBodyMotion(String, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Set where one of the world's bodies is and how fast it is turning, as the season's model of it says.

setCaptionValueSeparator(String) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

setChassisHeading(double) - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Injects the chassis heading, which the harness calls each tick with the drive plant's heading.

setConnected(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Unplug (false) or re-plug (true) the sensor's I2C cable.

setCurrentAlert(double, CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Stores the over-current threshold, converting it from unit to amps first.

setCurrentAlert(double, CurrentUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

setDirection(DcMotorSimple.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Which way a positive power turns the horn.

setDirection(DcMotorSimple.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setDirection(DcMotorSimple.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Sets the direction applied to the NEXT command and to every reading from now on, as DcMotorImpl.setDirection does: it sends nothing to the hub, so a motor already running keeps doing what it was told until its next setPower, setVelocity or setTargetPosition.

setDirection(Servo.Direction) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Sets the direction.

setDisplayFormat(Telemetry.DisplayFormat) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Accepted and ignored: the recorded text is the same in every display format.

setDistance(DistanceUnit, double) - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Put a target distance away from the sensor's face, from now on.

setDistance(DistanceUnit, double) - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Put a surface distance in front of the sensor from now on, by setting the proximity count the SDK's curve reads back as that distance (see the class javadoc for how close the round trip is).

setDistanceSource(DistanceUnit, DoubleSupplier) - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Ask source how far the target is on every FakeDistanceSensor.update(double) from now on.

setDistanceSource(DistanceUnit, DoubleSupplier) - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Ask source how far the surface is on every FakeRevColorSensorV3.update(double) from now on.

setEncoderMeasuringAnotherMechanism(double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Tell this port that the encoder plugged into it is counting a DIFFERENT mechanism than this motor drives, and say what that encoder reads right now.

setEncoderPosition(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Inject the mechanism's current position (in encoder ticks) — the harness calls this each tick with plant.getPosition() * ticksPerUnit.

setExternalTorqueFraction(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Put an outside torque on the shaft — gravity on an arm or a lift, a spring, a rubber band — as a signed fraction of this motor's stall torque, in the PHYSICAL direction: positive pushes the shaft toward increasing FakeMotor.getPhysicalPositionTicks().

setHealthStatus(HardwareDeviceHealth.HealthStatus) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setI2cAddr(I2cAddr) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setI2cAddress(I2cAddr) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setItemSeparator(String) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

setJointAngleRadians(String, double) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Set one revolute joint's angle, measured in radians from the pose the mechanism is drawn in in CAD — so 0 always draws the CAD pose (B13v Contract clause 3), and the sign follows the right-hand rule about the joint's rotation axis.

setJointAngleRadians(String, double) - Method in class org.horizon36596.simloop.viz.TurretSketch

Set a pivot riding on the turret, exactly as MechanismSketch.setJointAngleRadians(java.lang.String, double) does.

setJointExtensionInches(String, double) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Set one linear stage's extension along its own travel axis.

setJointExtensionInches(String, double) - Method in class org.horizon36596.simloop.viz.TurretSketch

Set a stage riding on the turret, exactly as MechanismSketch.setJointExtensionInches(java.lang.String, double) does.

setLogging(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setLoggingTag(String) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setMeasuredShaftSpeedFraction(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Tell this motor how fast its shaft is REALLY turning, as a fraction of free speed in [-1, 1], when something outside the motor decides that — a mechanism plant's end-stop, or a jam.

setMode(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Stores the run mode, migrating the three deprecated modes first as DcMotorImpl.setMode does.

setMode(DcMotor.RunMode) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Sets the run mode as LynxDcMotorController.setMotorMode does.

setMode(DigitalChannel.Mode) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

setMode(DigitalChannelController.Mode) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Deprecated.

setMotorDisable() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setMotorDisable() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Disables the channel: the windings get no power, in every mode, until a command re-enables it.

setMotorEnable() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setMotorEnable() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Enables the channel, as LynxDcMotorController.setMotorEnable does.

setMotorType(MotorConfigurationType) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Stores a copy of motorType, which FakeExternalEncoder.getMotorType() then reports.

setMotorType(MotorConfigurationType) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Stores a copy of motorType as this port's configured type, which FakeMotor.getMotorType() then reports — as DcMotorImpl.setMotorType hands it to the controller, which keeps it.

setMsTransmissionInterval(int) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Stores the interval, in milliseconds; it is not honoured, see the class javadoc.

setNothingInRange() - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Take every target away from now on, so the sensor reports out of range.

setNothingInRange() - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Take the surface away from now on: proximity count 0, which the SDK reads as FakeRevColorSensorV3.MAX_REPORTED_DISTANCE_INCHES.

setPhysicalMount(double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Sim only: where the sensor REALLY sits on the simulated robot - not what robot code tells it with setOffset, but the truth that offset is supposed to describe.

setPhysicalPodMount(double, double, GoBildaPinpointDriver.EncoderDirection, GoBildaPinpointDriver.EncoderDirection, double) - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

Sim only: how the two odometry pods are REALLY mounted on the simulated robot - not what the robot code tells the device (setOffsets, setEncoderDirections, setEncoderResolution), but the truth those settings are supposed to describe.

setPhysicalTrackingGains(double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Sim only: how much the physical sensor over- or under-reads before the robot's scalars are applied - a real OTOS reads distance a little off depending on its height above the floor and the floor's texture, which is what setLinearScalar exists to calibrate away.

setPIDCoefficients(DcMotor.RunMode, PIDCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setPIDCoefficients(DcMotor.RunMode, PIDCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

DcMotorImplEx.setPIDCoefficients: the same as FakeMotor.setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDFCoefficients) with f = 0 and the MotorControlAlgorithm.LegacyPID algorithm, which PIDFCoefficients(PIDCoefficients) builds.

setPIDFCoefficients(DcMotor.RunMode, PIDFCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setPIDFCoefficients(DcMotor.RunMode, PIDFCoefficients) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Stores the hub's closed-loop gains for a mode, with the SDK's own checks (SDK exact, from LynxDcMotorController.setPIDFCoefficients): a mode that is not a PID mode (RunMode.isPIDMode(), checked before migration) throws IllegalArgumentException("motor 0: mode M is invalid as PID Mode"); RUN_TO_POSITION with any non-zero I, D or F under an algorithm other than MotorControlAlgorithm.LegacyPID throws UnsupportedOperationException("setting of pidf coefficents not supported: ...") and changes nothing, because the firmware's position loop feeds its velocity loop and those terms would double-integrate; the hub stores each gain as round(|c| * 65536) * sign(c), so what FakeMotor.getPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode) reads back is quantized to 1/65536. The new gains are what the modelled loops then run with (HubMotorControlLoop; what each gain means numerically is an APPROXIMATION of the firmware).

setPollRateHz(int) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

The SDK's rule exactly: ignored while running; otherwise the rate is clamped to 1-250 Hz and the interval is 1000 / hz milliseconds, integer division.

setPose(double, double, double) - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Teleport the integrated pose (e.g.

setPose(double, double, double) - Method in class org.horizon36596.simloop.plant.MecanumPoseIntegrator

Teleports the pose, for a test that needs to start somewhere other than the origin.

setPosition(double) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

setPosition(double) - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Teleport the state to a known start (e.g.

setPosition(double) - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Teleport the joint to a known start (e.g.

setPositionPIDFCoefficients(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setPositionPIDFCoefficients(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

DcMotorImplEx.setPositionPIDFCoefficients: FakeMotor.setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDFCoefficients) for RUN_TO_POSITION with only P set, PIDF algorithm.

setPower(double) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Command a speed in [-1, 1]: negative is one way, positive the other, 0.0 is stopped.

setPower(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Stored for API fidelity, but a sensor drives nothing: position comes only from injection.

setPower(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Commands power, exactly as DcMotorImpl.setPower and LynxDcMotorController handle it.

setPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Deprecated.

setPowerFloat() - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Deprecated.

setPressed(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Press or release the sensor from now on, as the physical world would.

setPressedSource(BooleanSupplier) - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Ask source whether the sensor is pressed on every FakeTouchSensor.update(double) from now on.

setProximityCounts(int) - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Set the raw proximity count the chip measures from now on.

setPulseWidth(double) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Sends a raw pulse width, as LynxServoController.setPulseWidth does: truncated to whole microseconds, PWM enabled, and the held servo position replaced by the one that pulse width maps back to through the PWM range — so FakeCRServo.getPower() then reports the speed that pulse width means.

setPulseWidth(double) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Sends a raw pulse width, as LynxServoController.setPulseWidth does: truncated to whole microseconds, PWM enabled, and the commanded position replaced by the one that pulse width maps back to through the PWM range.

setPwmDisable() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Disables the PWM signal on this port, so a real servo stops driving; the next power re-enables it.

setPwmDisable() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Disables the PWM signal on this port, so a real servo goes limp; the next position re-enables it.

setPwmEnable() - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Enables the PWM signal on this port.

setPwmEnable() - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Enables the PWM signal on this port.

setPwmRange(PwmControl.PwmRange) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

Stores the PWM range, in microseconds, used to turn later commands into pulse widths.

setPwmRange(PwmControl.PwmRange) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

Stores the PWM range, in microseconds, used to turn later positions into pulse widths.

setRawCounts(ColorCounts) - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Make the photodiodes measure counts from now on.

setRawCountsSource(Supplier<ColorCounts>) - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Ask source what the photodiodes measure on every FakeRevColorSensorV3.update(double) from now on.

setRobotFieldPose(double, double, double) - Method in class org.horizon36596.simloop.viz.TurretSketch

Where the robot is, in the field frame its own pose is logged in: inches and radians CCW, with the robot's forward axis at the heading.

setRobotPose(double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Where the robot is, for the frames captured from now on.

setRobotPoseFromLocalizer(double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

FakeLimelight3A.setRobotPose(double, double, double) from a pose in the localizer frame a MecanumDrivePlant reports, rotated into the field frame by FieldFrameTransform.

setRobotShape(RobotShape) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Give the robot solid parts for the next GamePieceTracker.advance(double), in place of the world's single footprint box: a compound of boxes in the robot frame, posed by the season for where its mechanisms are this tick.

setScheduler(SimClockScheduler) - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Sets the run that rewritten waits (Thread.sleep, sleep(ms), idle()) hand their waiting to.

setSelfTestResult(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Decide how the next and later self tests end.

setSimulatedInputState(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Drive the wire, as the physical world would.

setState(boolean) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

Write the output bit, as robot code driving an LED or a signal line would.

setStaticRobots(List<StaticRobot>) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put robots that stand still on the field (an alliance partner parked for the period).

setTargetPosition(int) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Sends a RUN_TO_POSITION target, in encoder ticks, with the handle's current tolerance, as DcMotorImplEx does: the target is negated for a REVERSE handle now, and the tolerance from FakeExternalEncoder.setTargetPositionTolerance(int) travels with it (it is only ever sent here).

setTargetPosition(int) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Sends a RUN_TO_POSITION target, in encoder ticks, with the handle's current tolerance, exactly as DcMotorImplEx does: the target is negated for a REVERSE handle now, and the tolerance from FakeMotor.setTargetPositionTolerance(int) travels with it (it is only ever sent here).

setTargetPositionTolerance(int) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Stores the RUN_TO_POSITION tolerance on the handle, in encoder ticks.

setTargetPositionTolerance(int) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Stores the RUN_TO_POSITION tolerance on the handle, in encoder ticks, as DcMotorImplEx does.

setTotalTravelInches(double) - Method in class org.horizon36596.simloop.viz.MechanismSketch

Set the whole mechanism's extension, splitting it across the linear stages in proportion to how much travel each has.

setUserConfiguredName(String) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

setVelocity(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Does not drive anything — this is a sensor — but makes the two changes a real velocity command makes to the port: the mode becomes RUN_USING_ENCODER unless it is already that or RUN_TO_POSITION (where LynxDcMotorController.setMotorVelocity leaves it alone, the rate then being the speed cap), and the channel is enabled (see FakeMotor.setVelocity(double)).

setVelocity(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Commands a shaft velocity in encoder ticks per second, as DcMotorImplEx.setVelocity and LynxDcMotorController.setMotorVelocity do (SDK exact): switch to DcMotor.RunMode.RUN_USING_ENCODER unless already in it or in RUN_TO_POSITION, through FakeMotor.setMode(com.qualcomm.robotcore.hardware.DcMotor.RunMode), which re-issues the last power in the new mode first; send round(direction * angularRate), clipped to +/-32767 ticks/s, as the hub's velocity target — in RUN_TO_POSITION its magnitude is the speed cap instead; enable the channel. The hub's velocity loop then drives toward it on each FakeMotor.update(double); the shaft approaches the target rather than jumping to it, and a target beyond the motor's free speed saturates.

setVelocity(double, AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

Same as FakeExternalEncoder.setVelocity(double); the rate itself drives nothing.

setVelocity(double, AngleUnit) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Commands a shaft velocity given as an angular rate, converted through this port's configured CPR exactly as LynxDcMotorController.setMotorVelocity(int, double, AngleUnit) converts it, then handled as FakeMotor.setVelocity(double).

setVelocityPIDFCoefficients(double, double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setVelocityPIDFCoefficients(double, double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

DcMotorImplEx.setVelocityPIDFCoefficients: FakeMotor.setPIDFCoefficients(com.qualcomm.robotcore.hardware.DcMotor.RunMode, com.qualcomm.robotcore.hardware.PIDFCoefficients) for RUN_USING_ENCODER with the PIDF algorithm.

setVoltage(double) - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

Sets the voltage this input reports from now on, clipped into [0, maxVoltage] as a real pin saturates at the ends of its range.

setVoltage(double) - Method in class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

Sets the voltage this sensor reports from now on, for a test that wants brown-out behaviour.

setYawRadians(double) - Method in class org.horizon36596.simloop.viz.TurretSketch

Set the turret's yaw, radians from the zero pose, positive by the right-hand rule about the yaw axis.

setZeroPowerBehavior(DcMotor.ZeroPowerBehavior) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

setZeroPowerBehavior(DcMotor.ZeroPowerBehavior) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

shadowRadius(double, double, double) - Method in class org.horizon36596.simloop.field.OrientedBox

Half the length of this box's shadow on a line through its centre along (nx, ny, nz).

ShotArc - Class in org.horizon36596.simloop.viz

An immutable 3-D polyline for one shot: the path a game piece took, or was meant to take, from the launcher to wherever it stopped.

ShotArc.Launch - Class in org.horizon36596.simloop.viz

Where a game piece leaves the launcher, and how fast: a position plus a speed along a direction.

ShotArcRecorder - Class in org.horizon36596.simloop.viz

Logs the last few shots as intended-vs-actual arc pairs, in a shape AdvantageScope's 3D Field can draw without any setup beyond adding the keys.

ShotArcRecorder(int) - Constructor for class org.horizon36596.simloop.viz.ShotArcRecorder

A recorder with no shots yet.

shouldRunTick(int) - Method in class org.horizon36596.simloop.sim.live.GamepadInputGate

shouldRunTick(int) - Method in interface org.horizon36596.simloop.sim.ScenarioRunner.TickGate

Called before tick tickIndex advances the clock or logs anything.

show(FakeRevColorSensorV3, GamePiece, double) - Method in class org.horizon36596.simloop.sensor.ColorProbe

Makes the sensor see one piece at a given gap, whatever the geometry says - for a sensor that looks at a piece the robot is holding, which the tracker does not place in front of any mount.

signOutsideRestBand(double, double) - Static method in class org.horizon36596.simloop.fit.FirstOrderFit

Returns the sign of velocity, or 0 when it is inside restBand: which way friction acts, unitless.

sim - Variable in class org.horizon36596.simloop.fit.GapReport.Quantity

The sim's own parameters for the same quantity.

SIM_EPOCH_MILLIS - Static variable in class org.horizon36596.simloop.simclock.SimClockHooks

What System.currentTimeMillis() reads when the sim clock reads zero: 2026-01-01T00:00:00Z, in milliseconds since 1970.

SimCamera - Class in org.horizon36596.simloop.vision

A camera on the robot that "sees" game pieces: given every piece's true position and the robot's pose, it works out which pieces fall inside its image and where, as CameraSightings.

SimCamera(String, CameraLens, CameraMount) - Constructor for class org.horizon36596.simloop.vision.SimCamera

A simulated camera with the given lens and mount.

SimClockElapsedTime - Class in org.horizon36596.simloop.simclock

The FTC SDK's ElapsedTime, reading the sim clock of the SimClockLoader that defined it.

SimClockElapsedTime() - Constructor for class org.horizon36596.simloop.simclock.SimClockElapsedTime

As ElapsedTime(): starts now, resolution seconds.

SimClockElapsedTime(long) - Constructor for class org.horizon36596.simloop.simclock.SimClockElapsedTime

As ElapsedTime(long).

SimClockElapsedTime(ElapsedTime.Resolution) - Constructor for class org.horizon36596.simloop.simclock.SimClockElapsedTime

As ElapsedTime(ElapsedTime.Resolution): starts now.

SimClockHooks - Class in org.horizon36596.simloop.simclock

What a team's rewritten clock calls call instead.

SimClockLoader - Class in org.horizon36596.simloop.simclock

A class loader that loads a team's classes with their clock calls moved onto one sim clock, so code that uses ElapsedTime, System.nanoTime(), Thread.sleep, TimeUnit.sleep, Android's SystemClock or a computed sleep(ms) runs unchanged in a SimLoop test.

SimClockLoader(ClassLoader, FakeTimer, List<String>) - Constructor for class org.horizon36596.simloop.simclock.SimClockLoader

Makes a loader for one sim.

SimClockLoader(ClassLoader, FakeTimer, List<String>, String) - Constructor for class org.horizon36596.simloop.simclock.SimClockLoader

Makes a loader for one run, named for it: SimClockLoader.toString() then says whose classes it holds, which tells two loaders' copies of a class apart in a message.

SimClockScheduler - Interface in org.horizon36596.simloop.simclock

What a rewritten wait (Thread.sleep, LinearOpMode.sleep, idle()) asks of the OpMode run that owns a SimClockLoader's clock.

SimElapsedTime - Class in org.horizon36596.simloop.sim

An FTC SDK ElapsedTime that reads the simulation clock (FakeTimer) instead of the wall clock.

SimElapsedTime(FakeTimer) - Constructor for class org.horizon36596.simloop.sim.SimElapsedTime

Starts a timer at the sim clock's current time, counting in seconds - the same as new ElapsedTime().

SimElapsedTime(FakeTimer, long) - Constructor for class org.horizon36596.simloop.sim.SimElapsedTime

Makes a timer that counts from a given moment on the sim clock, counting in seconds - the same as new ElapsedTime(startTime).

SimElapsedTime(FakeTimer, ElapsedTime.Resolution) - Constructor for class org.horizon36596.simloop.sim.SimElapsedTime

Starts a timer at the sim clock's current time, with ElapsedTime.time() and ElapsedTime.startTime() in the given unit - the same as new ElapsedTime(resolution).

SimFrame - Class in org.horizon36596.simloop.vision

One synthetic camera frame from a SimFrameRenderer: 8-bit RGB pixels, plus a label per pixel saying which piece or tag it shows.

SimFrameRenderer - Class in org.horizon36596.simloop.vision

Draws what a CameraLens on a CameraMount would see, as a SimFrame of RGB pixels, so a team's real pixel pipeline (an OpenCV VisionProcessor, a colour-blob detector, a contour splitter) can run unchanged on frames from the sim.

SimFrameRenderer.Builder - Class in org.horizon36596.simloop.vision

Configures a SimFrameRenderer.

simOutputErrorRms - Variable in class org.horizon36596.simloop.fit.GapReport.Quantity

The sim's parameters run open-loop against the same log: RMS error, velocity units (FirstOrderFit.outputErrorRms(org.horizon36596.simloop.fit.FirstOrderFit.Model, org.horizon36596.simloop.fit.FirstOrderFit.Samples, double, double)).

SimRobotConfig - Interface in org.horizon36596.simloop.config

Season-glue interface: the device registry the core needs to build a FakeHardwareMap that mirrors the real robot configuration.

SimTagCamera - Class in org.horizon36596.simloop.vision

A camera on the robot that "sees" AprilTags: given a team-supplied AprilTagLayout and the robot's pose, it works out which tags a detector would find and where, as TagSightings.

SimTagCamera(CameraLens, CameraMount, double, double, double, List<ObstacleBox>) - Constructor for class org.horizon36596.simloop.vision.SimTagCamera

A tag camera with these optics, this mount and these detection limits.

SimTagCamera.Visibility - Enum Class in org.horizon36596.simloop.vision

Why a tag is or is not seen; see the class comment for the order these are checked in.

simulate(FirstOrderFit.Model, FirstOrderFit.Samples, double, double) - Static method in class org.horizon36596.simloop.fit.FirstOrderFit

The model's velocity on every frame of samples inside the window, driven by the logged power; NaN outside it.

size() - Method in class org.horizon36596.simloop.fit.RlogTimeSeries

Returns how many frames.

size() - Method in class org.horizon36596.simloop.vision.AprilTagLayout

Returns how many tags the layout holds.

size() - Method in class org.horizon36596.simloop.viz.ArticulatedRobotModel

Returns how many components, which is the length of every pose array this model produces.

size() - Method in class org.horizon36596.simloop.viz.ShotArc

Returns how many points the arc has.

sleepNanos(long) - Method in interface org.horizon36596.simloop.sim.live.RealTimePacer.Sleeper

Wait at least this long.

sleepSeconds(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.25 s: SET BY HAND.

sleepSpeedInchesPerS(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 1 in/s: SET BY HAND.

slots() - Method in class org.horizon36596.simloop.viz.ShotArcRecorder

Returns how many slots this recorder cycles through.

solve(double[][], double[], String...) - Static method in class org.horizon36596.simloop.fit.LeastSquares

Solve min |A x - b|.

speak(String) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Does nothing: there is no Driver Station to speak through.

speak(String, String, String) - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Does nothing: there is no Driver Station to speak through.

speedInchesPerSecond - Variable in class org.horizon36596.simloop.viz.ShotArc.Launch

Exit speed, inches per second.

speedToReach(double, double, double) - Static method in class org.horizon36596.simloop.viz.ShotArc

The launch speed that puts a drag-free shot through a point, for a fixed launch pitch.

spinDampingPerSecond(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 0.4 per second.

STANDARD_GRAVITY_INCHES_PER_S2 - Static variable in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

Standard gravity in inches per second squared (9.80665 m/s² ÷ 0.0254).

standardErrors - Variable in class org.horizon36596.simloop.fit.LeastSquares.Solution

One standard error per coefficient, in that coefficient's units: how far it would typically move if the data were collected again with fresh, independent noise.

start() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Starts polling on the next FakeLimelight3A.update(double); does nothing if already running (SDK semantics).

stateFor(Set<String>) - Static method in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

The keymap itself: which gamepad state a set of held keys means.

StaticRobot - Class in org.horizon36596.simloop.field

A robot that stands still: an alliance partner parked for a whole period, or a no-show's empty spot made solid.

StaticRobot(String, double, double, double, double, double, double) - Constructor for class org.horizon36596.simloop.field.StaticRobot

Creates a standing robot from its centre, heading and size.

status() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Returns whether this term was checked and fine, checked and broken, or not checkable at all.

STICK_AXES - Static variable in class org.horizon36596.simloop.sim.live.GamepadState

The stick axes, in the SDK's range [-1, 1].

stop() - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Stops polling and keeps the last result, as the SDK's stop() does.

STOP - Enum constant in enum class org.horizon36596.simloop.opmode.OpModePhase

The tick on which STOP is pressed.

stopReport(StopReport.ScenarioReplayer) - Method in class org.horizon36596.simloop.loop.LoopDriver

Stop the loop and report — replaying the best candidate's scenario first, and reporting a determinism failure instead of a score if the replay differs from the accepted run.

StopReport - Class in org.horizon36596.simloop.loop

What the loop says when it is stopped: the best answer it found, and proof that the answer reproduces.

StopReport.Reproduction - Enum Class in org.horizon36596.simloop.loop

How the second run of the best candidate's scenario came out.

StopReport.ScenarioReplayer - Interface in org.horizon36596.simloop.loop

Runs one accepted candidate's scenario again, from the top, and returns the fresh RLOG.

stuckTimeoutMillis(int) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Sets how long the OpMode's code may run without handing control back before the run fails rather than hangs: for an iterative OpMode, one call of init(), init_loop(), start(), loop() or stop(); for a LinearOpMode, one tick, or the time it takes to return after STOP.

style(FrameStyle) - Method in class org.horizon36596.simloop.vision.SimFrameRenderer.Builder

The colours and light.

substepsFor(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig

How many equal sub-steps a tick of deltaTimeSeconds is split into: the fewest that keep each one no longer than GamePiecePhysicsConfig.getMaxSubstepSeconds(), to within 1e-9 of a sub-step, i.e.

substepsPerTick(int) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Deprecated.

use GamePiecePhysicsConfig.Builder.maxSubstepSeconds(double), which says what it means at any tick.

summarise(List<RlogDecodedCompare.Mismatch>) - Static method in class org.horizon36596.simloop.sim.RlogDecodedCompare

A mismatch list rendered for a human: how many differed, which KEYS differed and how often, and one worked example of each, capped at RlogDecodedCompare.SUMMARY_KEY_LIMIT keys.

summaryLine() - Method in class org.horizon36596.simloop.loop.Milestone

The milestone in one line, for the trail in the stop report: "#2 [IMPROVED_BY_AT_LEAST_THE_THRESHOLD] +2.5 -> -9.44: cut the idle step before the tip".

supersampling(int) - Method in class org.horizon36596.simloop.vision.SimFrameRenderer.Builder

Rays per pixel along each axis, averaged: 2 casts 4 rays a pixel and smooths edges.

surfaceVelocity(double, double, double, double, double[]) - Method in class org.horizon36596.simloop.field.KinematicBody

How fast the body's surface moves at a field point while it turns: omega * axis x (p - pivot).

SWITCH_GAMEPAD_KEY - Static variable in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource

Pressed: the keys stop driving this gamepad and start driving the other one.

SwitchPolarity - Enum Class in org.horizon36596.simloop.fakehardware

How a switch is wired to a digital pin: which line level means "pressed".

systemClockSleep(long) - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces Android's SystemClock.sleep(ms): holds the OpMode's thread for enough ticks to cover the time.

T

tags(int, int, int) - Method in class org.horizon36596.simloop.vision.FrameStyle.Builder

The tag colours.

TagSighting - Class in org.horizon36596.simloop.vision

One AprilTag as a SimTagCamera sees it this tick: the ground truth a tag detector would have to recover, with no noise.

teamPackages() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns the name prefixes of the classes this loader rewrites.

teamPackages(String...) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Sets which classes a OpModeRunner.forTeamClass(java.lang.String, org.horizon36596.simloop.fakehardware.FakeHardwareMap) run rewrites onto the sim clock, replacing the default SimClockLoader.DEFAULT_TEAM_PACKAGES.

telemetry() - Method in class org.horizon36596.simloop.opmode.OpModeRunResult

Returns everything the OpMode sent to telemetry.

teleportRobot(double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Put the robot somewhere else without it having driven there.

TESTS_GREEN - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Clause

The build's tests passed.

testsGreen() - Method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

What the caller said about the verify command.

text() - Method in class org.horizon36596.simloop.loop.Milestone

The milestone as a block of text: why it fired, what changed in the candidate's own words, and both breakdowns side by side.

text() - Method in class org.horizon36596.simloop.loop.StopReport

The report as a block of text.

threadSleep(long) - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces Thread.sleep(long): holds the OpMode's thread for enough ticks to cover the time.

threadSleep(long, int) - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces Thread.sleep(long, int).

tick - Variable in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Frame

Which loop this is, counting from 0.

tick() - Method in exception org.horizon36596.simloop.opmode.OpModeException

Returns the tick of the run it failed on, counting from 0 at the INIT tick.

tick(double) - Method in interface org.horizon36596.simloop.sim.ScenarioRunner.ScenarioBody

Called once per sim tick, after FakeTimer.advance(double) and Logger.periodicBeforeUser() and before Logger.periodicAfterUser(long, long).

ticks() - Method in class org.horizon36596.simloop.opmode.OpModeRunResult

Returns how many ticks ran, every phase included: 1 + initLoopTicks + activeTicks + 1.

tickSeconds(double) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Sets the fixed sim tick.

ticksPerInch() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the encoder ticks per inch of wheel travel.

time() - Method in class org.horizon36596.simloop.sim.FakeTimer

Current simulation time.

timeConstant() - Method in interface org.horizon36596.simloop.config.ContinuousRotationSimConfig

First-order time constant (s, > 0): how quickly the actuator's speed catches up with a commanded power step.

timeConstant() - Method in interface org.horizon36596.simloop.config.MechanismSimConfig

First-order time constant (s, > 0): the single pole of the mechanism's response.

timeConstantSeconds - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Model

Seconds to cover 63% of a step change, for an Euler step of one log frame (see the class comment, "Which time constant").

timeConstantStandardError - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

One standard error on FirstOrderFit.Model.timeConstantSeconds, seconds.

timer(FakeTimer) - Method in class org.horizon36596.simloop.opmode.OpModeRunner

Uses timer as the sim clock instead of a fresh one, so that anything else reading sim time (a sim-backed timer the OpMode was handed, a plant) reads the same clock.

timeSeconds() - Method in class org.horizon36596.simloop.fit.RlogTimeSeries

Returns a copy of the frame times, seconds.

timeUnitSleep(TimeUnit, long) - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces unit.sleep(duration) on a TimeUnit: holds the OpMode's thread for enough ticks to cover the time, as SimClockHooks.threadSleep(long) does.

toBox() - Method in class org.horizon36596.simloop.field.StaticRobot

Returns the robot as a solid box in the field frame, floor to its height, named like the robot.

toField(double, double, double, double, double[]) - Method in class org.horizon36596.simloop.field.KinematicBody

Turn a local point into the field frame at an angle.

toLocal(double, double, double) - Method in class org.horizon36596.simloop.field.OrientedBox

Returns the point (x, y, z) in this box's own coordinates: along each of its axes from its centre, inches.

toLocal(double, double, double, double, double[]) - Method in class org.horizon36596.simloop.field.KinematicBody

Turn a field-frame point into this body's local frame at an angle.

toPng() - Method in class org.horizon36596.simloop.vision.SimFrame

SimFrame.writePng(java.io.OutputStream) into a byte array.

toString() - Method in class org.horizon36596.simloop.fakehardware.ColorCounts

Returns the counts, for test messages.

toString() - Method in class org.horizon36596.simloop.field.GamePiece

toString() - Method in class org.horizon36596.simloop.field.ObstacleBox

toString() - Method in class org.horizon36596.simloop.field.OrientedBox

toString() - Method in class org.horizon36596.simloop.field.RobotContact

toString() - Method in class org.horizon36596.simloop.field.ScoringVolume

toString() - Method in class org.horizon36596.simloop.field.TriggerVolume

toString() - Method in class org.horizon36596.simloop.loop.Gate.ClauseResult

toString() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

toString() - Method in class org.horizon36596.simloop.loop.Gate.SuppliedFacts

toString() - Method in class org.horizon36596.simloop.loop.Gate.Verdict

The same text as Gate.Verdict.explain().

toString() - Method in class org.horizon36596.simloop.loop.Guardrail.Verdict

toString() - Method in class org.horizon36596.simloop.loop.LoopDriver.Candidate

toString() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

A one-line status, deliberately shorter than Gate.Verdict.toString().

toString() - Method in class org.horizon36596.simloop.loop.Milestone

toString() - Method in class org.horizon36596.simloop.loop.Objective.Budget

toString() - Method in class org.horizon36596.simloop.loop.Scorer.Score

toString() - Method in class org.horizon36596.simloop.loop.StopReport

toString() - Method in class org.horizon36596.simloop.sensor.ColorProbe.Sighting

Returns the sighting, for test messages.

toString() - Method in class org.horizon36596.simloop.sensor.ContactSwitch

Returns the switch, for test messages.

toString() - Method in class org.horizon36596.simloop.sensor.RangeHit

Returns the hit, for test messages.

toString() - Method in class org.horizon36596.simloop.sensor.SensorMount

Returns the mount, for test messages.

toString() - Method in class org.horizon36596.simloop.sim.live.GamepadInputTrack.Frame

The line this frame is written as.

toString() - Method in class org.horizon36596.simloop.sim.live.GamepadState

The same text a track line uses for this gamepad, e.g.

toString() - Method in class org.horizon36596.simloop.sim.live.KeyboardGamepadSource.KeyBinding

e.g.

toString() - Method in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

toString() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns "SimClockLoader for the run of MyAuto": which run's copies of the team classes these are.

toString() - Method in class org.horizon36596.simloop.vision.AprilTagLayout.Tag

toString() - Method in class org.horizon36596.simloop.vision.AprilTagLayout

toString() - Method in class org.horizon36596.simloop.vision.CameraLens

toString() - Method in class org.horizon36596.simloop.vision.CameraMount

toString() - Method in class org.horizon36596.simloop.vision.CameraOccluders

toString() - Method in class org.horizon36596.simloop.vision.CameraSighting

toString() - Method in class org.horizon36596.simloop.vision.RigidTransform3

toString() - Method in class org.horizon36596.simloop.vision.RobotFramePoint

toString() - Method in class org.horizon36596.simloop.vision.SimFrame

toString() - Method in class org.horizon36596.simloop.vision.TagSighting

toString() - Method in class org.horizon36596.simloop.viz.RobotVector3

total() - Method in class org.horizon36596.simloop.loop.Scorer.Score

The headline number: objective − Σ penalties, oriented so bigger is better.

totalPenalty() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns everything the guardrails charged, summed, in the objective's own units.

toTranslations() - Method in class org.horizon36596.simloop.viz.ShotArc

The arc as AdvantageScope reads it: metres, same axes.

TOUCHPAD_AXES - Static variable in class org.horizon36596.simloop.sim.live.GamepadState

The touchpad finger positions, in the SDK's range [-1, 1].

trackWidth() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the left-right wheel center-to-center distance, in inches.

transformed(double[][], double[]) - Method in class org.horizon36596.simloop.field.OrientedBox

This box carried by a rigid motion: p' = rotation * p + translation.

transmissions() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Returns every update so far, oldest first: each one is the list of Driver Station lines it showed.

TRIGGER_AXES - Static variable in class org.horizon36596.simloop.sim.live.GamepadState

The two analog triggers, in the SDK's range [0, 1].

TriggerVolume - Class in org.horizon36596.simloop.field

A rectangular region bolted to the robot that decides whether a game piece is close enough to be acquired — the "mouth" of an intake, expressed as geometry instead of roller-on-ball contact.

TriggerVolume(String, double, double, double, double) - Constructor for class org.horizon36596.simloop.field.TriggerVolume

Validates and stores one robot-relative rectangle.

tryAcquire(TriggerVolume, boolean) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Take every loose piece that volume overlaps, up to the remaining capacity — but only while mechanismRunning is true.

tryAcquire(TriggerVolume, boolean, Collection<String>) - Method in class org.horizon36596.simloop.field.GamePieceTracker

GamePieceTracker.tryAcquire(TriggerVolume, boolean) for an intake that only takes some kinds of piece: a mouth sized for the small ball rolls over the big one without taking it.

tryAcquire(TriggerVolume, boolean, Collection<String>, int) - Method in class org.horizon36596.simloop.field.GamePieceTracker

GamePieceTracker.tryAcquire(TriggerVolume, boolean, Collection) for an intake that takes at most maxPieces this call.

tryGet(Class<? extends T>, String) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

The SDK's own tryGet, minus the one line of it that cannot run off a robot.

tryRetrieveBottomPiece(String, TriggerVolume, boolean, Collection<String>) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Take the bottom piece out of a goal that has an opening at its base - a column a robot can pull pieces out of from underneath - when a running mouth overlaps that piece.

TurretSketch - Class in org.horizon36596.simloop.viz

Draws a TurretSketchDefinition in AdvantageScope's 3D Field tab: a turret that yaws on the robot, the chain riding on it (a hood), and a cone at the chain's tip pointing along the shot.

TurretSketch(TurretSketchDefinition) - Constructor for class org.horizon36596.simloop.viz.TurretSketch

Builds the drawing at the zero pose, with the robot at the field origin.

TurretSketchDefinition - Class in org.horizon36596.simloop.viz

A mechanism whose base joint is a turret: a pivot that yaws about a vertical axis, carrying a planar chain (a hood, an arm, a slide) that swings round with it.

TurretSketchDefinition.Builder - Class in org.horizon36596.simloop.viz

Step-by-step builder.

U

unavailableReason() - Method in class org.horizon36596.simloop.loop.Gate.LastBest

Why the last-best could not be produced.

unbounded() - Static method in class org.horizon36596.simloop.field.FieldWorld

Returns a world with default physics and nothing fixed in it — see the class javadoc.

undistortPixel(double, double) - Method in class org.horizon36596.simloop.vision.CameraLens

The inverse of CameraLens.project(double, double, double)'s image step: a pixel in, the undistorted normalised direction it looks along out.

unknown(String) - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Could not be checked from this run.

UNKNOWN - Enum constant in enum class org.horizon36596.simloop.loop.Gate.Outcome

Could not be checked.

UNKNOWN - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Could not be checked from this run.

unknownCount() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns how many envelope terms could not be checked.

unknowns() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Names of every envelope term that could not be checked from this run.

unreproducedScoreForDiagnosis() - Method in class org.horizon36596.simloop.loop.StopReport

The best score whether or not it reproduced, for diagnosis only, or null when there was never one.

unstated() - Static method in class org.horizon36596.simloop.loop.Objective.Budget

No budget given.

update() - Method in class org.horizon36596.simloop.opmode.RecordingTelemetry

Runs the actions, renders every item and line to text and records that as one transmission.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeAnalogInput

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeCRServo

update(double) - Method in interface org.horizon36596.simloop.fakehardware.FakeDevice

Advance this device's kinematic state by deltaTime seconds.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeDigitalChannel

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeDistanceSensor

Samples the source set with FakeDistanceSensor.setDistanceSource(DistanceUnit, DoubleSupplier), if there is one.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeExternalEncoder

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeGoBildaPinpoint

Advance the device's own clock: finish a calibration that has run its time, and work out the velocity the device reports from the motion since the last tick.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeImu

Advances the simulated clock and derives the gyro rate from the change in injected heading since the previous tick.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Advances the sim clock and runs the capture, latency and poll steps the class comment lists.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeMotor

Advance the motor by deltaTime seconds.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeRevColorSensorV3

Samples the colour and distance sources, if there are any.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeServo

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeSparkFunOTOS

Advance the sensor's own clock: count down a running IMU calibration, and work out the velocity and acceleration it reports from the motion since the last tick.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeTouchSensor

Samples the source set with FakeTouchSensor.setPressedSource(BooleanSupplier), if there is one.

update(double) - Method in class org.horizon36596.simloop.fakehardware.FakeVoltageSensor

update(double) - Method in class org.horizon36596.simloop.plant.MecanumDrivePlant

Integrate the pose one tick from the motors' current modelled PHYSICAL wheel velocities (ticks/s -> in/s), each corrected for how that motor is physically mounted.

update(double) - Method in class org.horizon36596.simloop.plant.Mechanism1DofPlant

Advance the mechanism one tick from the motor's current commanded power.

update(double) - Method in class org.horizon36596.simloop.plant.MultiDofMechanismPlant

Advance every degree of freedom by deltaTime seconds, in registration order.

update(double) - Method in interface org.horizon36596.simloop.plant.OneDofPlant

Advance this degree of freedom by deltaTime seconds, reading whatever command its own actuator currently holds.

update(double) - Method in class org.horizon36596.simloop.plant.PositionalServoPlant

Advance the joint one tick toward the servo's current commanded position.

updateAll(double) - Method in class org.horizon36596.simloop.fakehardware.FakeHardwareMap

Advances every registered fake device's plant by one harness tick, once each, in registration order.

updatePythonInputs(double[]) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

updatePythonInputs(double, double, double, double, double, double, double, double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

updateRobotOrientation(double) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

The robot's field yaw for MegaTag2, used by frames captured from the next tick on.

updateRobotPose(double, double, double) - Method in class org.horizon36596.simloop.field.GamePieceTracker

Record where the robot is for this tick and carry every held piece to it.

uploadFieldmap(LLFieldMap, Integer) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

uploadPipeline(String, Integer) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

uploadPython(String, Integer) - Method in class org.horizon36596.simloop.fakehardware.FakeLimelight3A

Not modelled; throws.

uptimeMillis() - Static method in class org.horizon36596.simloop.simclock.SimClockHooks

Replaces Android's SystemClock.uptimeMillis().

V

value(RunResult) - Method in class org.horizon36596.simloop.loop.Objective

The objective's contribution to the score, oriented so that bigger is better.

valueA - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

The value the first run logged under RlogDecodedCompare.Mismatch.key: PsiKit's rendering of the value followed by its logged type in brackets, e.g.

valueB - Variable in class org.horizon36596.simloop.sim.RlogDecodedCompare.Mismatch

As RlogDecodedCompare.Mismatch.valueA, for the second run.

valueOf(String) - Static method in enum class org.horizon36596.simloop.fakehardware.SwitchPolarity

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.field.PossessionState

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Gate.Clause

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Gate.Fact

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Gate.Outcome

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Guardrail.Status

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Milestone.Reason

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.Objective.Direction

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.opmode.OpModePhase

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.sensor.ContactSwitch.Contact

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.sensor.RangeHit.Target

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.viz.ArticulatedRobotModel.JointType

Returns the enum constant of this class with the specified name.

valueOf(String) - Static method in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

Returns the enum constant of this class with the specified name.

values() - Static method in enum class org.horizon36596.simloop.fakehardware.SwitchPolarity

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.field.PossessionState

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Gate.Clause

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Gate.Fact

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Gate.Outcome

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Guardrail.Status

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Milestone.Reason

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.Objective.Direction

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.loop.StopReport.Reproduction

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.opmode.OpModePhase

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.sensor.ContactSwitch.Contact

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.sensor.RangeHit.Target

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.viz.ArticulatedRobotModel.JointType

Returns an array containing the constants of this enum class, in the order they are declared.

values() - Static method in enum class org.horizon36596.simloop.viz.JointDefinition.Kind

Returns an array containing the constants of this enum class, in the order they are declared.

velocitySource - Variable in class org.horizon36596.simloop.fit.GapReport.Quantity

The key the velocity came from.

velocityUnit - Variable in class org.horizon36596.simloop.fit.GapReport.Quantity

The velocity's unit, e.g.

verdict() - Method in class org.horizon36596.simloop.loop.LoopDriver.Decision

The gate's full verdict, accepted or not.

verdicts() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns every guardrail's verdict, in the order they were applied.

violated(String) - Static method in class org.horizon36596.simloop.loop.Guardrail.Verdict

Checked, and broken.

VIOLATED - Enum constant in enum class org.horizon36596.simloop.loop.Guardrail.Status

Checked against the run; the invariant is broken.

violations() - Method in class org.horizon36596.simloop.loop.Scorer.Score

Returns the names of every envelope term that was checked and found broken.

visibility(AprilTagLayout.Tag, double, double, double) - Method in class org.horizon36596.simloop.vision.SimTagCamera

Whether one tag is seen from this robot pose, and if not, the first rule it fails.

visibility(AprilTagLayout.Tag, double, double, double, CameraOccluders) - Method in class org.horizon36596.simloop.vision.SimTagCamera

Whether one tag is seen from this robot pose with more occluders in the way, and if not, the first rule it fails.

VISIBLE - Enum constant in enum class org.horizon36596.simloop.vision.SimTagCamera.Visibility

Seen: every check passed.

W

waitForWriteCompletions(I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

wakeSpeedInchesPerS(double) - Method in class org.horizon36596.simloop.field.GamePiecePhysicsConfig.Builder

Default 10 in/s: SET BY HAND.

WALL - Enum constant in enum class org.horizon36596.simloop.sensor.ContactSwitch.Contact

The field perimeter wall.

WALL - Enum constant in enum class org.horizon36596.simloop.sensor.RangeHit.Target

The field perimeter wall.

warnings() - Method in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Returns why this fit should not be trusted, one sentence each; empty when the data pinned every parameter down.

warnings() - Method in class org.horizon36596.simloop.opmode.OpModeRunResult

Returns what the run could not simulate faithfully, one sentence each, in the order found; empty when nothing was.

warnings() - Method in class org.horizon36596.simloop.simclock.SimClockLoader

Returns what this loader's classes do on the real clock that the run should warn about, once each.

wheelBase() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the front-back wheel center-to-center distance, in inches.

wheelMountingSigns() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Which way each drive motor is physically bolted in, as a sign per wheel in [frontLeft, frontRight, backLeft, backRight] order: +1 when a positive shaft rotation drives that corner of the chassis forward, -1 when it drives it backward because the motor is mounted facing the other way.

wheelRadius() - Method in interface org.horizon36596.simloop.config.DrivetrainSimConfig

Returns the drive wheel radius, in inches.

whyThreadCannotWait(Thread) - Method in interface org.horizon36596.simloop.simclock.SimClockScheduler

Returns null if thread may wait in sim time, or else a sentence saying why it may not.

WINDOW_FRAMES - Static variable in class org.horizon36596.simloop.fit.FirstOrderFit

How many frames each fitted window spans.

windowEndSeconds - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Time of the last frame the fit used, seconds, on the log's clock: the end of its time window.

windowResidualRms - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

RMS of the fit's own residual (measured - predicted change in velocity over one window), in velocity units.

windowResiduals() - Method in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Returns a copy of every window's residual - measured minus predicted change in velocity over that window, velocity units - in log order.

windowsSkipped - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Windows inside the time range that were left out: a gap too long, or at rest throughout.

windowStartSeconds - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Time of the first frame the fit used, seconds, on the log's clock: the start of its time window.

windowsUsed - Variable in class org.horizon36596.simloop.fit.FirstOrderFit.Result

Windows of FirstOrderFit.WINDOW_FRAMES frames the fit used.

withDistortion(double, double, double, double, double) - Method in class org.horizon36596.simloop.vision.CameraLens

This lens with a different distortion model: same focal lengths, principal point and image size.

withHinge(HingeDynamics) - Method in class org.horizon36596.simloop.field.KinematicBody

This body, the same shapes, cells and contact numbers, made dynamic: its angle is integrated by the physics from hinge and the pieces' contacts instead of set by the season.

withinBound(String, double, double) - Static method in class org.horizon36596.simloop.loop.EnvelopeGuardrails

§3: an actuator is never commanded past its configured bound.

withMinVisibleFraction(double) - Method in class org.horizon36596.simloop.vision.SimCamera

This camera with a different minimum visible fraction for the occluded SimCamera.observe(List, double, double, double, CameraOccluders): a detector that still finds a ball when a quarter of it shows wants 0.25.

withPerimeter(OrientedBox, double, double) - Static method in class org.horizon36596.simloop.field.RobotContact

A placed part against the perimeter walls at |x| = halfWidthInches, |y| = halfLengthInches (full height), or null when every corner is inside.

withPitch(double) - Method in class org.horizon36596.simloop.viz.ShotArc.Launch

Returns the same launch at a different elevation — a hood that settled off its setpoint.

withShapeMaterial(String, double, double) - Method in class org.horizon36596.simloop.field.KinematicBody

This body with every shape named shapeName given its own contact numbers, in place of the body's.

withSpeed(double) - Method in class org.horizon36596.simloop.viz.ShotArc.Launch

Returns the same launch at a different exit speed — a flywheel that came up short, say.

write() - Method in class org.horizon36596.simloop.fit.GapReport

Write the report beside the RLOG.

write(byte[]) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write(byte[], I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write(int, byte[]) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write(int, byte[], I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int, int) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int, int, I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

write8(int, I2cWaitControl) - Method in class org.horizon36596.simloop.fakehardware.FakeI2cDeviceSynchSimple

writePng(OutputStream) - Method in class org.horizon36596.simloop.vision.SimFrame

The frame as a PNG: 8-bit RGB, no interlace, with a tEXt Comment chunk holding SimFrame.PNG_COMMENT.

Writer(Path, Map<String, String>, boolean) - Constructor for class org.horizon36596.simloop.sim.live.GamepadInputTrack.Writer

Create the file and write its header.

X

x - Variable in class org.horizon36596.simloop.viz.RobotVector3

Robot-forward component.

x(int) - Method in class org.horizon36596.simloop.viz.ShotArc

Returns point i's x, inches, field frame.

xInches - Variable in class org.horizon36596.simloop.viz.ShotArc.Launch

Release point x, inches, field frame.

Y

y - Variable in class org.horizon36596.simloop.viz.RobotVector3

Robot-left component.

y(int) - Method in class org.horizon36596.simloop.viz.ShotArc

Returns point i's y, inches, field frame.

yaw(RobotVector3, RevoluteJointDefinition) - Method in class org.horizon36596.simloop.viz.TurretSketchDefinition.Builder

The yaw: a point on its axis and the joint itself.

yawed(String, double, double, double, double, double, double, double) - Static method in class org.horizon36596.simloop.field.OrientedBox

Returns a box turned about the vertical by yawRad (radians CCW from +X), from its centre and half extents.

yawRad - Variable in class org.horizon36596.simloop.viz.ShotArc.Launch

Direction in the floor plane, radians CCW from field +X — the turret/heading bearing.

yInches - Variable in class org.horizon36596.simloop.viz.ShotArc.Launch

Release point y, inches, field frame.

Z

z - Variable in class org.horizon36596.simloop.viz.RobotVector3

Up component.

z(int) - Method in class org.horizon36596.simloop.viz.ShotArc

Returns point i's z, inches above the tile top.

zInches - Variable in class org.horizon36596.simloop.viz.ShotArc.Launch

Release point height, inches above the tile top.

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