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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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17
wpimath/src/main/native/cpp/geometry/Translation3d.cpp
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@@ -4,6 +4,11 @@
#include "frc/geometry/Translation3d.h"
#include <wpi/json.h>
#include "units/length.h"
#include "units/math.h"
using namespace frc;
Translation3d::Translation3d(units::meter_t distance, const Rotation3d& angle) {
@@ -39,3 +44,15 @@ bool Translation3d::operator==(const Translation3d& other) const {
bool Translation3d::operator!=(const Translation3d& other) const {
return !operator==(other);
}
void frc::to_json(wpi::json& json, const Translation3d& translation) {
json = wpi::json{{"x", translation.X().value()},
{"y", translation.Y().value()},
{"z", translation.Z().value()}};
}
void frc::from_json(const wpi::json& json, Translation3d& translation) {
translation = Translation3d{units::meter_t{json.at("x").get<double>()},
units::meter_t{json.at("y").get<double>()},
units::meter_t{json.at("z").get<double>()}};
}