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[wpilib] Add AprilTag and AprilTagFieldLayout (#4421)

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This is an API for looking up a Pose3d from a tag id, and includes functionality to load that map from a JSON file.

This also adds JSON support to Pose3d, Rotation3d. Translation3d, and Quaternion.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: AMereBagatelle <themerebagatelle@gmail.com>
This commit is contained in:
Brennen Puth
2022-11-04 12:56:22 -04:00
committed by GitHub
parent 7aab8fa93a
commit b2b473b24a
22 changed files with 813 additions and 4 deletions
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15
wpimath/src/main/native/cpp/geometry/Quaternion.cpp
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@@ -4,6 +4,8 @@
#include "frc/geometry/Quaternion.h"
#include <wpi/json.h>
using namespace frc;
Quaternion::Quaternion(double w, double x, double y, double z)
@@ -81,3 +83,16 @@ Eigen::Vector3d Quaternion::ToRotationVector() const {
}
}
}
void frc::to_json(wpi::json& json, const Quaternion& quaternion) {
json = wpi::json{{"W", quaternion.W()},
{"X", quaternion.X()},
{"Y", quaternion.Y()},
{"Z", quaternion.Z()}};
}
void frc::from_json(const wpi::json& json, Quaternion& quaternion) {
quaternion =
Quaternion{json.at("W").get<double>(), json.at("X").get<double>(),
json.at("Y").get<double>(), json.at("Z").get<double>()};
}