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[apriltag] Split AprilTag functionality to a separate library (#4578)

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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
2022-11-17 17:29:29 -05:00
committed by GitHub
parent 2e88a496c2
commit 53904e7cf4
23 changed files with 887 additions and 43 deletions
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47
wpilibj/src/test/java/edu/wpi/first/wpilibj/apriltag/AprilTagPoseMirroringTest.java
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@@ -1,47 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.apriltag;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.wpilibj.DriverStation;
import java.util.List;
import org.junit.jupiter.api.Test;
class AprilTagPoseMirroringTest {
@Test
void poseMirroring() {
var layout =
new AprilTagFieldLayout(
List.of(
new AprilTag(1, new Pose3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0))),
new AprilTag(
2,
new Pose3d(
new Translation3d(
Units.feetToMeters(4.0), Units.feetToMeters(4), Units.feetToMeters(4)),
new Rotation3d(0, 0, Units.degreesToRadians(180))))),
Units.feetToMeters(54.0),
Units.feetToMeters(27.0));
layout.setAlliance(DriverStation.Alliance.Red);
assertEquals(
new Pose3d(
new Translation3d(Units.feetToMeters(54.0), Units.feetToMeters(27.0), 0.0),
new Rotation3d(0.0, 0.0, Units.degreesToRadians(180.0))),
layout.getTagPose(1).orElse(null));
assertEquals(
new Pose3d(
new Translation3d(
Units.feetToMeters(50.0), Units.feetToMeters(23.0), Units.feetToMeters(4)),
new Rotation3d(0.0, 0.0, 0)),
layout.getTagPose(2).orElse(null));
}
}

38
wpilibj/src/test/java/edu/wpi/first/wpilibj/apriltag/AprilTagSerializationTest.java
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@@ -1,38 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.apriltag;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import com.fasterxml.jackson.databind.ObjectMapper;
import edu.wpi.first.math.geometry.Pose3d;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.util.Units;
import java.util.List;
import org.junit.jupiter.api.Test;
class AprilTagSerializationTest {
@Test
void deserializeMatches() {
var layout =
new AprilTagFieldLayout(
List.of(
new AprilTag(1, new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0))),
new AprilTag(3, new Pose3d(0, 1, 0, new Rotation3d(0, 0, 0)))),
Units.feetToMeters(54.0),
Units.feetToMeters(27.0));
var objectMapper = new ObjectMapper();
var deserialized =
assertDoesNotThrow(
() ->
objectMapper.readValue(
objectMapper.writeValueAsString(layout), AprilTagFieldLayout.class));
assertEquals(layout, deserialized);
}
}