Add constrained solvePNP strategy (#1682)

Signed-off-by: Jade Turner <spacey-sooty@proton.me>
Co-authored-by: Jade Turner <spacey-sooty@proton.me>

photon-targeting/src/main/native/include/photon/constrained_solvepnp/wrap/casadi_wrapper.h

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <Eigen/Core>
+#include <sleipnir/optimization/SolverExitCondition.hpp>
+#include <wpi/expected>
+
+namespace constrained_solvepnp {
+using casadi_real = double;
+/**
+ * Pinhole camera coefficients
+ */
+struct CameraCalibration {
+  casadi_real fx;
+  casadi_real fy;
+  casadi_real cx;
+  casadi_real cy;
+};
+
+using RobotStateMat = Eigen::Matrix<casadi_real, 3, 1>;
+
+/**
+ * Optimize x, where x is [x, y, theta]^T. Note points must be undistorted prior
+ * to this. The number of columns in field2points and point_observations just be
+ * exactly 4x nTags.
+ */
+wpi::expected<RobotStateMat, sleipnir::SolverExitCondition> do_optimization(
+    bool heading_free, int nTags, CameraCalibration cameraCal,
+    // Note that casadi is column major, apparently
+    Eigen::Matrix<casadi_real, 4, 4, Eigen::ColMajor> robot2camera,
+    RobotStateMat x_guess,
+    Eigen::Matrix<casadi_real, 4, Eigen::Dynamic, Eigen::ColMajor> field2points,
+    Eigen::Matrix<casadi_real, 2, Eigen::Dynamic, Eigen::ColMajor>
+        point_observations,
+    double gyroθ, double gyroErrorScaleFac);
+
+}  // namespace constrained_solvepnp