From bd680d9f83b5995a18008289c3011247da0bad5d Mon Sep 17 00:00:00 2001
From: Kevin Cooney <kcooney@users.noreply.github.com>
Date: Mon, 9 Feb 2026 23:35:53 -0800
Subject: [PATCH] Minor cleanups to MultiPhotonPoseEstimator

- Make the Builder final
- Add a public static builder() method
- Make Builder constructor package-private
---
 .../vision/MultiPhotonPoseEstimator.java      | 31 ++++++++++++-------
 1 file changed, 19 insertions(+), 12 deletions(-)

diff --git a/vision/src/main/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimator.java b/vision/src/main/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimator.java
index f49d4e19..589e26ee 100644
--- a/vision/src/main/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimator.java
+++ b/vision/src/main/java/com/team2813/lib2813/vision/MultiPhotonPoseEstimator.java
@@ -67,23 +67,13 @@ public class MultiPhotonPoseEstimator implements AutoCloseable {
   private PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy;
 
   /** A builder for {@code MultiPhotonPoseEstimator}. */
-  public static class Builder {
+  public static final class Builder {
     private final Map<String, CameraConfig> cameraConfigs = new HashMap<>();
     private final AprilTagFieldLayout aprilTagFieldLayout;
     private final NetworkTableInstance ntInstance;
     private final PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy;
 
-    /**
-     * {@code MultiPhotonPoseEstimator} builder constructor.
-     *
-     * @param ntInstance Network table instance used to log the pose of AprilTag detections as well
-     *     as pose estimates.
-     * @param aprilTagFieldLayout WPILib field description (dimensions) including AprilTag 3D
-     *     locations.
-     * @param poseEstimatorStrategy Posing strategy (for instance, multi tag PnP, closest to camera
-     *     tag, etc.)
-     */
-    public Builder(
+    Builder(
         NetworkTableInstance ntInstance,
         AprilTagFieldLayout aprilTagFieldLayout,
         PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy) {
@@ -142,6 +132,23 @@ public MultiPhotonPoseEstimator build() {
     }
   }
 
+  /**
+   * Creates a builder for building {@link MultiPhotonPoseEstimator} instances.
+   *
+   * @param ntInstance Network table instance used to log the pose of AprilTag detections as well as
+   *     pose estimates.
+   * @param aprilTagFieldLayout WPILib field description (dimensions) including AprilTag 3D
+   *     locations.
+   * @param poseEstimatorStrategy Posing strategy (for instance, multi tag PnP, closest to camera
+   *     tag, etc.)
+   */
+  public static Builder builder(
+      NetworkTableInstance ntInstance,
+      AprilTagFieldLayout aprilTagFieldLayout,
+      PhotonPoseEstimator.PoseStrategy poseEstimatorStrategy) {
+    return new Builder(ntInstance, aprilTagFieldLayout, poseEstimatorStrategy);
+  }
+
   /**
    * Adds all cameras to a simulated vision system.
    *