Fold y2019 localizer into drivetrain
Change-Id: Icc192ae9f910741b54f114ec9a27559cc289b29b
diff --git a/y2019/constants.h b/y2019/constants.h
index 24d8b92..2fbcc5b 100644
--- a/y2019/constants.h
+++ b/y2019/constants.h
@@ -190,6 +190,21 @@
intake;
PotAndAbsConstants stilts;
+
+ struct CameraCalibration {
+ // constants matrix to send to camera for calibration.
+ Eigen::Matrix<float, 3, 4> for_camera;
+ // Pose of the camera relative to the robot.
+ ::frc971::control_loops::TypedPose<double> pose;
+ // Field of view, in radians. This is total horizontal FOV, from left
+ // edge to right edge of the camera image.
+ double fov;
+ };
+
+ static constexpr size_t kNumCameras = 5;
+ ::std::array<CameraCalibration, kNumCameras> cameras;
+ control_loops::TypedCamera<Field::kNumTargets, Field::kNumObstacles,
+ double>::NoiseParameters camera_noise_parameters;
};
// Creates (once) a Values instance for ::aos::network::GetTeamNumber() and