Put target mapping replay code in a class
Before, we had functions with like 10 pointers passed in, which was a
big pain. Having those variables as class members makes this all much
cleaner.
Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Change-Id: Ibf229f64f24a68c6bffdb96369d2191d3b000e8a
diff --git a/frc971/vision/target_mapper.h b/frc971/vision/target_mapper.h
index 35c0977..f5d1aef 100644
--- a/frc971/vision/target_mapper.h
+++ b/frc971/vision/target_mapper.h
@@ -47,7 +47,7 @@
std::vector<TargetPose> target_poses, TargetId target_id);
// Version that gets based on internal target_poses
- std::optional<TargetPose> GetTargetPoseById(TargetId target_id);
+ std::optional<TargetPose> GetTargetPoseById(TargetId target_id) const;
ceres::examples::MapOfPoses target_poses() { return target_poses_; }