Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[apriltag] Explain what April tag poses represent (NFC) (#4930)

Browse Source
This commit is contained in:
bovlb
2023-01-11 11:42:30 -08:00
committed by GitHub
parent 79f565191e
commit 530ae40614
2 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
View File

@@ -37,6 +37,9 @@ import java.util.Optional;
* 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.
*
* <p>Tag poses represent the center of the tag, with a zero rotation representing a tag that is
* upright and facing away from the (blue) alliance wall (that is, towards the opposing alliance).
*/
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)

6
apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
View File

@@ -34,7 +34,11 @@ namespace frc {
* 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. */
* GetTagPose(int) to be from the perspective of a specific alliance.
*
* Tag poses represent the center of the tag, with a zero rotation representing
* a tag that is upright and facing away from the (blue) alliance wall (that is,
* towards the opposing alliance). */
class WPILIB_DLLEXPORT AprilTagFieldLayout {
public:
enum class OriginPosition {