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",
],