commit 9c3db182b769f00b898fd8db8026c20b917a1a1d
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Feb 09 22:02:18 2024 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Feb 17 13:28:17 2024 -0800
tree 84f33b6f1fd201d8362b8f6751e9b8752c80dbf2
parent d44ffaad357f5854dd2c14b9f08f9be9af40824d

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>

y2023/vision/BUILD

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",
     ],

y2023/vision/localization_verifier.cc

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());