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

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The "bottom-left" language appears to be based on [a 2-D diagram  on another page](https://docs.wpilib.org/en/stable/docs/software/advanced-controls/geometry/coordinate-systems.html) and doesn't seem very helpful here.
This commit is contained in:
bovlb
2022-12-13 22:27:43 -08:00
committed by GitHub
parent cc003c6c38
commit 2a5e89fa97
2 changed files with 8 additions and 12 deletions
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9
apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
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@@ -33,11 +33,10 @@ import java.util.Optional;
* 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)

11
apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
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@@ -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 {