Move y2023/localizer/utils.h to frc971/vision
These are entirely year-generic, no reason to keep them year-specific.
Change-Id: Ie3636613074e21c578afe0c9f136f6553759b63c
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/y2023/localizer/BUILD b/y2023/localizer/BUILD
index eb0f886..9b35fcf 100644
--- a/y2023/localizer/BUILD
+++ b/y2023/localizer/BUILD
@@ -81,26 +81,15 @@
)
cc_library(
- name = "utils",
- srcs = ["utils.cc"],
- hdrs = ["utils.h"],
- visibility = ["//visibility:public"],
- deps = [
- "//frc971/vision:target_map_fbs",
- "@org_tuxfamily_eigen//:eigen",
- ],
-)
-
-cc_library(
name = "map_expander_lib",
srcs = ["map_expander_lib.cc"],
hdrs = ["map_expander_lib.h"],
deps = [
":relative_scoring_map_fbs",
":scoring_map_fbs",
- ":utils",
"//aos:flatbuffers",
"//aos:json_to_flatbuffer",
+ "//frc971/vision:target_map_utils",
],
)
@@ -138,7 +127,6 @@
visibility = ["//visibility:public"],
deps = [
":status_fbs",
- ":utils",
":visualization_fbs",
"//aos/containers:sized_array",
"//aos/events:event_loop",
@@ -152,6 +140,7 @@
"//frc971/control_loops/drivetrain/localization:utils",
"//frc971/imu_reader:imu_watcher",
"//frc971/vision:target_map_fbs",
+ "//frc971/vision:target_map_utils",
"//y2023:constants",
"//y2023/constants:constants_fbs",
],
@@ -164,12 +153,12 @@
deps = [
":localizer",
":status_fbs",
- ":utils",
"//aos/events:simulated_event_loop",
"//aos/events/logging:log_writer",
"//aos/testing:googletest",
"//frc971/control_loops/drivetrain:drivetrain_test_lib",
"//frc971/control_loops/drivetrain:localizer_fbs",
+ "//frc971/vision:target_map_utils",
"//y2023/constants:simulated_constants_sender",
"//y2023/control_loops/drivetrain:drivetrain_base",
],
diff --git a/y2023/localizer/localizer.cc b/y2023/localizer/localizer.cc
index 76784fb..6f9a16b 100644
--- a/y2023/localizer/localizer.cc
+++ b/y2023/localizer/localizer.cc
@@ -5,8 +5,8 @@
#include "aos/containers/sized_array.h"
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/control_loops/pose.h"
+#include "frc971/vision/target_map_utils.h"
#include "y2023/constants.h"
-#include "y2023/localizer/utils.h"
DEFINE_double(max_pose_error, 1e-6,
"Throw out target poses with a higher pose error than this");
diff --git a/y2023/localizer/localizer_test.cc b/y2023/localizer/localizer_test.cc
index fb0efa9..c47e46e 100644
--- a/y2023/localizer/localizer_test.cc
+++ b/y2023/localizer/localizer_test.cc
@@ -8,10 +8,10 @@
#include "frc971/control_loops/drivetrain/localizer_generated.h"
#include "frc971/control_loops/pose.h"
#include "frc971/vision/target_map_generated.h"
+#include "frc971/vision/target_map_utils.h"
#include "y2023/constants/simulated_constants_sender.h"
#include "y2023/control_loops/drivetrain/drivetrain_base.h"
#include "y2023/localizer/status_generated.h"
-#include "y2023/localizer/utils.h"
DEFINE_string(output_folder, "",
"If set, logs all channels to the provided logfile.");
diff --git a/y2023/localizer/map_expander_lib.cc b/y2023/localizer/map_expander_lib.cc
index 5a94985..884b184 100644
--- a/y2023/localizer/map_expander_lib.cc
+++ b/y2023/localizer/map_expander_lib.cc
@@ -1,6 +1,6 @@
#include "y2023/localizer/map_expander_lib.h"
-#include "y2023/localizer/utils.h"
+#include "frc971/vision/target_map_utils.h"
namespace y2023::localizer {
namespace {
diff --git a/y2023/localizer/utils.cc b/y2023/localizer/utils.cc
deleted file mode 100644
index 7faca1f..0000000
--- a/y2023/localizer/utils.cc
+++ /dev/null
@@ -1,14 +0,0 @@
-#include "y2023/localizer/utils.h"
-
-namespace y2023::localizer {
-Eigen::Matrix<double, 4, 4> PoseToTransform(
- const frc971::vision::TargetPoseFbs *pose) {
- const frc971::vision::Position *position = pose->position();
- const frc971::vision::Quaternion *quaternion = pose->orientation();
- return (Eigen::Translation3d(
- Eigen::Vector3d(position->x(), position->y(), position->z())) *
- Eigen::Quaterniond(quaternion->w(), quaternion->x(), quaternion->y(),
- quaternion->z()))
- .matrix();
-}
-} // namespace y2023::localizer
diff --git a/y2023/localizer/utils.h b/y2023/localizer/utils.h
deleted file mode 100644
index 8241cf8..0000000
--- a/y2023/localizer/utils.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#ifndef Y2023_LOCALIZER_UTILS_H_
-#define Y2023_LOCALIZER_UTILS_H_
-
-#include <Eigen/Dense>
-
-#include "frc971/vision/target_map_generated.h"
-
-namespace y2023::localizer {
-// Converts a TargetPoseFbs into a transformation matrix.
-Eigen::Matrix<double, 4, 4> PoseToTransform(
- const frc971::vision::TargetPoseFbs *pose);
-} // namespace y2023::localizer
-
-#endif // Y2023_LOCALIZER_UTILS_H_
diff --git a/y2023/vision/BUILD b/y2023/vision/BUILD
index f583abd..88c1f54 100644
--- a/y2023/vision/BUILD
+++ b/y2023/vision/BUILD
@@ -78,9 +78,9 @@
"//aos/events:shm_event_loop",
"//frc971/constants:constants_sender_lib",
"//frc971/control_loops/drivetrain/localization:localizer_output_fbs",
+ "//frc971/vision:target_map_utils",
"//frc971/vision:vision_fbs",
"//y2023/localizer",
- "//y2023/localizer:utils",
"//y2023/vision:vision_util",
"@com_google_absl//absl/strings",
],
diff --git a/y2023/vision/localization_verifier.cc b/y2023/vision/localization_verifier.cc
index c16f874..01ef9fe 100644
--- a/y2023/vision/localization_verifier.cc
+++ b/y2023/vision/localization_verifier.cc
@@ -3,9 +3,9 @@
#include "aos/init.h"
#include "frc971/constants/constants_sender_lib.h"
#include "frc971/control_loops/drivetrain/localization/localizer_output_generated.h"
+#include "frc971/vision/target_map_utils.h"
#include "frc971/vision/vision_generated.h"
#include "y2023/localizer/localizer.h"
-#include "y2023/localizer/utils.h"
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
@@ -49,7 +49,7 @@
}
const Localizer::Transform H_camera_target =
- localizer::PoseToTransform(target_pose);
+ frc971::vision::PoseToTransform(target_pose);
const Localizer::Transform H_field_robot =
LocalizerOutputToTransform(*localizer_fetcher->get());