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wpilibc/src/main/native/include/wpi/smartdashboard/FieldObject2d.hpp

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+// 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.
+
+#pragma once
+
+#include <initializer_list>
+#include <span>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include <networktables/DoubleArrayTopic.h>
+#include <units/length.h>
+#include <wpi/SmallVector.h>
+#include <wpi/mutex.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/geometry/Rotation2d.h"
+
+namespace frc {
+
+class Field2d;
+class Trajectory;
+
+/**
+ * Game field object on a Field2d.
+ */
+class FieldObject2d {
+  friend class Field2d;
+  struct private_init {};
+
+ public:
+  FieldObject2d(std::string_view name, const private_init&) : m_name{name} {}
+
+  FieldObject2d(FieldObject2d&& rhs);
+  FieldObject2d& operator=(FieldObject2d&& rhs);
+
+  /**
+   * Set the pose from a Pose object.
+   *
+   * @param pose 2D pose
+   */
+  void SetPose(const Pose2d& pose);
+
+  /**
+   * Set the pose from x, y, and rotation.
+   *
+   * @param x X location
+   * @param y Y location
+   * @param rotation rotation
+   */
+  void SetPose(units::meter_t x, units::meter_t y, Rotation2d rotation);
+
+  /**
+   * Get the pose.
+   *
+   * @return 2D pose, or 0,0,0 if unknown / does not exist
+   */
+  Pose2d GetPose() const;
+
+  /**
+   * Set multiple poses from an array of Pose objects.
+   * The total number of poses is limited to 85.
+   *
+   * @param poses array of 2D poses
+   */
+  void SetPoses(std::span<const Pose2d> poses);
+
+  /**
+   * Set multiple poses from an array of Pose objects.
+   * The total number of poses is limited to 85.
+   *
+   * @param poses array of 2D poses
+   */
+  void SetPoses(std::initializer_list<Pose2d> poses);
+
+  /**
+   * Sets poses from a trajectory.
+   *
+   * @param trajectory The trajectory from which poses should be added.
+   */
+  void SetTrajectory(const Trajectory& trajectory);
+
+  /**
+   * Get multiple poses.
+   *
+   * @return vector of 2D poses
+   */
+  std::vector<Pose2d> GetPoses() const;
+
+  /**
+   * Get multiple poses.
+   *
+   * @param out output SmallVector to hold 2D poses
+   * @return span referring to output SmallVector
+   */
+  std::span<const Pose2d> GetPoses(wpi::SmallVectorImpl<Pose2d>& out) const;
+
+ private:
+  void UpdateEntry(bool setDefault = false);
+  void UpdateFromEntry() const;
+
+  mutable wpi::mutex m_mutex;
+  std::string m_name;
+  nt::DoubleArrayEntry m_entry;
+  mutable wpi::SmallVector<Pose2d, 1> m_poses;
+};
+
+}  // namespace frc