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[apriltag] Better description of pose coordinates (NFC) #4810

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merged 8 commits into from
Dec 14, 2022
Merged

[apriltag] Better description of pose coordinates (NFC) #4810

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a4822c2
Better description of pose co-ordinates
bovlb Dec 13, 2022
a2a311f
Update apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLay…
bovlb Dec 13, 2022
c3e1a8e
Same thing on C++ side
bovlb Dec 13, 2022
7f7f07e
Keep linter happy. Use American spelling
bovlb Dec 14, 2022
e9dca93
Use American spelling
bovlb Dec 14, 2022
445b0d1
Doh. Don't trust linter output
bovlb Dec 14, 2022
13968fd
Keep linter happy by removing space at end of line
bovlb Dec 14, 2022
5c4c84f
Formatting fixes
github-actions[bot] Dec 14, 2022
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9 changes: 4 additions & 5 deletions apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
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Original file line number Diff line number Diff line change
Expand Up @@ -33,11 +33,10 @@
* meters with "width" and "length" values. This is to account for arbitrary field sizes when
* transforming the poses.
*
* <p>Pose3ds are assumed to be measured from the bottom-left corner of the field, when the blue
* alliance is at the left. By default, Pose3ds will be returned as declared when calling {@link
* AprilTagFieldLayout#getTagPose(int)}. {@link #setOrigin(OriginPosition)} can be used to transform
* the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be correct relative to a
* different coordinate frame.
* <p>Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU with the origin
* at the bottom-right corner of the blue alliance wall. {@link #setOrigin(OriginPosition)} can be
* used to change the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be from the
* perspective of a specific alliance.
*/
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
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11 changes: 4 additions & 7 deletions apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
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Expand Up @@ -31,13 +31,10 @@ namespace frc {
* "width" and "length" values. This is to account for arbitrary field sizes
* when transforming the poses.
*
* Pose3ds are assumed to be measured from the bottom-left corner of the field,
* when the blue alliance is at the left. By default, Pose3ds will be returned
* as declared when calling GetTagPose(int).
* SetOrigin(AprilTagFieldLayout::OriginPosition) can be used to transform the
* poses returned by GetTagPose(int) to be correct relative to a different
* coordinate frame.
*/
* Pose3ds in the JSON are measured using the normal FRC coordinate system, NWU
* with the origin at the bottom-right corner of the blue alliance wall.
* SetOrigin(OriginPosition) can be used to change the poses returned from
* GetTagPose(int) to be from the perspective of a specific alliance. */
class WPILIB_DLLEXPORT AprilTagFieldLayout {
public:
enum class OriginPosition {
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