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

Merged
merged 8 commits into from
Dec 14, 2022
Merged
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 co-ordinate 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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