From 7e84ea891fb2cebc8c78933475ea017672c22c5e Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Sun, 11 Dec 2022 22:44:08 -0800 Subject: [PATCH] [wpimath] Fix ComputerVisionUtil transform example in parameter docs (NFC) (#4800) --- .../main/java/edu/wpi/first/math/ComputerVisionUtil.java | 6 +++--- wpimath/src/main/native/include/frc/ComputerVisionUtil.h | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/ComputerVisionUtil.java b/wpimath/src/main/java/edu/wpi/first/math/ComputerVisionUtil.java index 77c4abc809..7b1c377680 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/ComputerVisionUtil.java +++ b/wpimath/src/main/java/edu/wpi/first/math/ComputerVisionUtil.java @@ -24,9 +24,9 @@ public final class ComputerVisionUtil { * comes from computer vision. * @param robotToCamera The transformation from the robot's pose to the camera's pose. This can * either be a constant for a rigidly mounted camera, or variable if the camera is mounted to - * a turret. If the camera was mounted 3 inches behind the "origin" (usually physical center) - * of the robot, this would be new Transform3d(Units.inchesToMeters(3.0), 0.0, 0.0, new - * Rotation3d()). + * a turret. If the camera was mounted 3 inches in front of the "origin" (usually physical + * center) of the robot, this would be new Transform3d(Units.inchesToMeters(3.0), 0.0, 0.0, + * new Rotation3d()). * @return The robot's field-relative pose. */ public static Pose3d objectToRobotPose( diff --git a/wpimath/src/main/native/include/frc/ComputerVisionUtil.h b/wpimath/src/main/native/include/frc/ComputerVisionUtil.h index 8744f46c24..54f9752a96 100644 --- a/wpimath/src/main/native/include/frc/ComputerVisionUtil.h +++ b/wpimath/src/main/native/include/frc/ComputerVisionUtil.h @@ -25,8 +25,8 @@ namespace frc { * @param robotToCamera The transformation from the robot's pose to the camera's * pose. This can either be a constant for a rigidly mounted camera, or * variable if the camera is mounted to a turret. If the camera was mounted 3 - * inches behind the "origin" (usually physical center) of the robot, this - * would be frc::Transform3d{3_in, 0_in, 0_in, frc::Rotation3d{}}. + * inches in front of the "origin" (usually physical center) of the robot, + * this would be frc::Transform3d{3_in, 0_in, 0_in, frc::Rotation3d{}}. * @return The robot's field-relative pose. */ WPILIB_DLLEXPORT