From 530ae40614cd5362e41729a7cf58b8cf6dfbb394 Mon Sep 17 00:00:00 2001 From: bovlb <31326650+bovlb@users.noreply.github.com> Date: Wed, 11 Jan 2023 11:42:30 -0800 Subject: [PATCH] [apriltag] Explain what April tag poses represent (NFC) (#4930) --- .../java/edu/wpi/first/apriltag/AprilTagFieldLayout.java | 3 +++ .../main/native/include/frc/apriltag/AprilTagFieldLayout.h | 6 +++++- 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java index 605c97cca7..821bd9591a 100644 --- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java +++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java @@ -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. + * + *

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) diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h index c69e4291af..9cfae22005 100644 --- a/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h +++ b/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h @@ -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 {