From ab287bda573bf6f9a8da1d5e59165b7a63481095 Mon Sep 17 00:00:00 2001 From: Gabor Szita Date: Sat, 18 Feb 2023 13:57:48 -0800 Subject: [PATCH 1/2] update apriltagposeestimator docs --- src/main/cpp/AprilTagPoseEstimator.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/cpp/AprilTagPoseEstimator.cpp b/src/main/cpp/AprilTagPoseEstimator.cpp index ca3a053..53775db 100644 --- a/src/main/cpp/AprilTagPoseEstimator.cpp +++ b/src/main/cpp/AprilTagPoseEstimator.cpp @@ -4,12 +4,12 @@ using namespace frc; // this function expects to get the april tag the april tag pose reading in the following format: -// x - 1st value from jetson -// y - 2nd value from jetson -// z - 3rd value from jetson -// roll (x, 1st value in rotation3d) - 4th value from jetson -// pitch (y, 2nd value in rotation3d) - 5th value from jetson -// yaw (z, 3rd value in rotation3d) - 6th value from jetson +// x - 3rd value from jetson +// y - 4th value from jetson +// z - doesn't matter, can be left 0 +// roll (x, 1st value in rotation3d) - doesn't matter, can be left 0 +// pitch (y, 2nd value in rotation3d) - doesn't matter, can be left 0 +// yaw (z, 3rd value in rotation3d) - 4th value from jetson // aprilTagNum: april tag number Pose2d AprilTagPoseEstimator::getPose(Pose3d aprilTagPosReading, int aprilTagNum) { units::meter_t x = aprilTagPosReading.X(); From d04fd10f5147586a6537a4f8cf7dafb474077500 Mon Sep 17 00:00:00 2001 From: Gabor Szita Date: Sat, 18 Feb 2023 14:05:40 -0800 Subject: [PATCH 2/2] add docs to apriltag number --- src/main/cpp/AprilTagPoseEstimator.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/cpp/AprilTagPoseEstimator.cpp b/src/main/cpp/AprilTagPoseEstimator.cpp index 53775db..c989a45 100644 --- a/src/main/cpp/AprilTagPoseEstimator.cpp +++ b/src/main/cpp/AprilTagPoseEstimator.cpp @@ -10,7 +10,7 @@ using namespace frc; // roll (x, 1st value in rotation3d) - doesn't matter, can be left 0 // pitch (y, 2nd value in rotation3d) - doesn't matter, can be left 0 // yaw (z, 3rd value in rotation3d) - 4th value from jetson -// aprilTagNum: april tag number +// aprilTagNum: april tag number - 2nd value from jetson Pose2d AprilTagPoseEstimator::getPose(Pose3d aprilTagPosReading, int aprilTagNum) { units::meter_t x = aprilTagPosReading.X(); units::meter_t y = aprilTagPosReading.Y();