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Update AprilTagPoseEstimator docs #28

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Update AprilTagPoseEstimator docs #28

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ab287bd
update apriltagposeestimator docs
gaborszita Feb 18, 2023
d04fd10
add docs to apriltag number
gaborszita Feb 18, 2023
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14 changes: 7 additions & 7 deletions src/main/cpp/AprilTagPoseEstimator.cpp
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Expand Up @@ -4,13 +4,13 @@
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
// aprilTagNum: april tag number
// 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 - 2nd value from jetson
Pose2d AprilTagPoseEstimator::getPose(Pose3d aprilTagPosReading, int aprilTagNum) {
units::meter_t x = aprilTagPosReading.X();
units::meter_t y = aprilTagPosReading.Y();
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