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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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10
wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
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@@ -7,6 +7,8 @@
#include <cmath>
#include <numbers>
#include <wpi/json.h>
#include "Eigen/Core"
#include "Eigen/LU"
#include "Eigen/QR"
@@ -238,3 +240,11 @@ units::radian_t Rotation3d::Angle() const {
Rotation2d Rotation3d::ToRotation2d() const {
return Rotation2d{Z()};
}
void frc::to_json(wpi::json& json, const Rotation3d& rotation) {
json = wpi::json{{"quaternion", rotation.GetQuaternion()}};
}
void frc::from_json(const wpi::json& json, Rotation3d& rotation) {
rotation = Rotation3d{json.at("quaternion").get<Quaternion>()};
}