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[apriltag] Split AprilTag functionality to a separate library (#4578)
Add AprilTagFieldLayout JSON file and move class to edu.wpi.first.apriltag. Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
PJ Reiniger
@@ -1,45 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/SymbolExports.h>
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#include "frc/geometry/Pose3d.h"
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namespace wpi {
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class json;
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} // namespace wpi
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namespace frc {
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struct WPILIB_DLLEXPORT AprilTag {
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int ID;
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Pose3d pose;
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/**
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* Checks equality between this AprilTag and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are equal.
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*/
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bool operator==(const AprilTag& other) const;
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/**
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* Checks inequality between this AprilTag and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are not equal.
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*/
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bool operator!=(const AprilTag& other) const;
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};
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WPILIB_DLLEXPORT
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void to_json(wpi::json& json, const AprilTag& apriltag);
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WPILIB_DLLEXPORT
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void from_json(const wpi::json& json, AprilTag& apriltag);
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} // namespace frc
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@@ -1,123 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <optional>
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#include <string_view>
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#include <unordered_map>
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#include <vector>
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#include <units/length.h>
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#include <wpi/SymbolExports.h>
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#include "frc/DriverStation.h"
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#include "frc/apriltag/AprilTag.h"
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#include "frc/geometry/Pose3d.h"
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namespace wpi {
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class json;
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} // namespace wpi
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namespace frc {
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/**
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* Class for representing a layout of AprilTags on a field and reading them from
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* a JSON format.
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*
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* The JSON format contains two top-level objects, "tags" and "field".
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* The "tags" object is a list of all AprilTags contained within a layout. Each
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* AprilTag serializes to a JSON object containing an ID and a Pose3d. The
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* "field" object is a descriptor of the size of the field in meters with
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* "width" and "length" values. This is to account for arbitrary field sizes
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* when mirroring the poses.
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*
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* Pose3ds are assumed to be measured from the bottom-left corner of the field,
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* when the blue alliance is at the left. Pose3ds will automatically be returned
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* as passed in when calling GetTagPose(int). Setting an alliance color via
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* SetAlliance(DriverStation::Alliance) will mirror the poses returned from
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* GetTagPose(int) to be correct relative to the other alliance.
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*/
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class WPILIB_DLLEXPORT AprilTagFieldLayout {
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public:
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AprilTagFieldLayout() = default;
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/**
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* Construct a new AprilTagFieldLayout with values imported from a JSON file.
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*
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* @param path Path of the JSON file to import from.
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*/
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explicit AprilTagFieldLayout(std::string_view path);
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/**
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* Construct a new AprilTagFieldLayout from a vector of AprilTag objects.
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*
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* @param apriltags Vector of AprilTags.
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* @param fieldLength Length of field the layout of representing.
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* @param fieldWidth Width of field the layout is representing.
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*/
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AprilTagFieldLayout(std::vector<AprilTag> apriltags,
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units::meter_t fieldLength, units::meter_t fieldWidth);
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/**
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* Set the alliance that your team is on.
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*
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* This changes the GetTagPose(int) method to return the correct pose for your
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* alliance.
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*
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* @param alliance The alliance to mirror poses for.
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*/
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void SetAlliance(DriverStation::Alliance alliance);
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/**
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* Gets an AprilTag pose by its ID.
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*
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* @param ID The ID of the tag.
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* @return The pose corresponding to the ID that was passed in or an empty
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* optional if a tag with that ID is not found.
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*/
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std::optional<Pose3d> GetTagPose(int ID) const;
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/**
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* Serializes an AprilTagFieldLayout to a JSON file.
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*
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* @param path The path to write the JSON file to.
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*/
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void Serialize(std::string_view path);
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/*
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* Checks equality between this AprilTagFieldLayout and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are equal.
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*/
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bool operator==(const AprilTagFieldLayout& other) const;
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/**
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* Checks inequality between this AprilTagFieldLayout and another object.
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*
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* @param other The other object.
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* @return Whether the two objects are not equal.
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*/
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bool operator!=(const AprilTagFieldLayout& other) const;
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private:
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std::unordered_map<int, AprilTag> m_apriltags;
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units::meter_t m_fieldLength;
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units::meter_t m_fieldWidth;
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bool m_mirror = false;
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friend WPILIB_DLLEXPORT void to_json(wpi::json& json,
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const AprilTagFieldLayout& layout);
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friend WPILIB_DLLEXPORT void from_json(const wpi::json& json,
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AprilTagFieldLayout& layout);
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};
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WPILIB_DLLEXPORT
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void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
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WPILIB_DLLEXPORT
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void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
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} // namespace frc
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