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[apriltag] Add 2023 field layout JSON (#4912)

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This commit is contained in:
Matt
2023-01-08 19:30:45 -05:00
committed by GitHub
parent 330ba45f9c
commit babb0c1fcf
4 changed files with 160 additions and 2 deletions
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5
apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
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@@ -5,12 +5,13 @@
package edu.wpi.first.apriltag;
public enum AprilTagFields {
k2022RapidReact("2022-rapidreact.json");
k2022RapidReact("2022-rapidreact.json"),
k2023ChargedUp("2023-chargedup.json");
public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
/** Alias to the current game. */
public static final AprilTagFields kDefaultField = k2022RapidReact;
public static final AprilTagFields kDefaultField = k2023ChargedUp;
public final String m_resourceFile;

4
apriltag/src/main/native/cpp/AprilTagFields.cpp
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@@ -10,6 +10,7 @@ namespace frc {
// C++ generated from resource files
std::string_view GetResource_2022_rapidreact_json();
std::string_view GetResource_2023_chargedup_json();
AprilTagFieldLayout LoadAprilTagLayoutField(AprilTagField field) {
std::string_view fieldString;
@@ -17,6 +18,9 @@ AprilTagFieldLayout LoadAprilTagLayoutField(AprilTagField field) {
case AprilTagField::k2022RapidReact:
fieldString = GetResource_2022_rapidreact_json();
break;
case AprilTagField::k2023ChargedUp:
fieldString = GetResource_2023_chargedup_json();
break;
case AprilTagField::kNumFields:
throw std::invalid_argument("Invalid Field");
}

1
apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h
View File

@@ -14,6 +14,7 @@ namespace frc {
enum class AprilTagField {
k2022RapidReact,
k2023ChargedUp,
// This is a placeholder for denoting the last supported field. This should
// always be the last entry in the enum and should not be used by users

152
apriltag/src/main/native/resources/edu/wpi/first/apriltag/2023-chargedup.json Normal file
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@@ -0,0 +1,152 @@
{
"tags": [
{
"ID": 1,
"pose": {
"translation": {
"x": 15.513558,
"y": 1.071626,
"z": 0.462788
},
"rotation": {
"quaternion": {
"W": 0.0,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 2,
"pose": {
"translation": {
"x": 15.513558,
"y": 2.748026,
"z": 0.462788
},
"rotation": {
"quaternion": {
"W": 0.0,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 3,
"pose": {
"translation": {
"x": 15.513558,
"y": 4.424426,
"z": 0.462788
},
"rotation": {
"quaternion": {
"W": 0.0,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 4,
"pose": {
"translation": {
"x": 16.178784,
"y": 6.749796,
"z": 0.695452
},
"rotation": {
"quaternion": {
"W": 0.0,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 5,
"pose": {
"translation": {
"x": 0.36195,
"y": 6.749796,
"z": 0.695452
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 6,
"pose": {
"translation": {
"x": 1.02743,
"y": 4.424426,
"z": 0.462788
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 7,
"pose": {
"translation": {
"x": 1.02743,
"y": 2.748026,
"z": 0.462788
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 8,
"pose": {
"translation": {
"x": 1.02743,
"y": 1.071626,
"z": 0.462788
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
}
],
"field": {
"length": 16.54175,
"width": 8.0137
}
}