Package frc.robot.subsystems.apriltagvision.config

Class AprilTagVisionSubsystemConfig.CameraTransform

java.lang.Object

frc.robot.subsystems.apriltagvision.config.AprilTagVisionSubsystemConfig.CameraTransform

Enclosing class:

AprilTagVisionSubsystemConfig

public static class AprilTagVisionSubsystemConfig.CameraTransform
extends Object

Nested class for JSON deserialization of camera transforms.

Translation values are in meters and rotations are in radians.

Field Summary

Fields

Modifier and Type	Field	Description
double	pitch	Robot-to-camera pitch in radians.
double	roll	Robot-to-camera roll in radians.
double	x	Robot-to-camera X offset in meters (forward positive).
double	y	Robot-to-camera Y offset in meters (left positive).
double	yaw	Robot-to-camera yaw in radians.
double	z	Robot-to-camera Z offset in meters (up positive).

Constructor Summary

Constructors

Constructor	Description
CameraTransform()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.geometry.Transform3d	toTransform3d()	Converts this config object to a WPILib Transform3d.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

x

public double x

Robot-to-camera X offset in meters (forward positive).

y

public double y

Robot-to-camera Y offset in meters (left positive).

z

public double z

Robot-to-camera Z offset in meters (up positive).

roll

public double roll

Robot-to-camera roll in radians.

pitch

public double pitch

Robot-to-camera pitch in radians.

yaw

public double yaw

Robot-to-camera yaw in radians.

Constructor Details

CameraTransform

public CameraTransform()

Method Details

toTransform3d

public edu.wpi.first.math.geometry.Transform3d toTransform3d()

Converts this config object to a WPILib Transform3d.

Returns:

Transform3d representing the robot-to-camera transform