| Milind Upadhyay | cd677a3 | 2022-12-04 13:06:43 -0800 | [diff] [blame] | 1 | namespace frc971.vision; |
| 2 | |
| 3 | // Represents 3d pose of an april tag on the field. |
| 4 | table TargetPoseFbs { |
| 5 | // AprilTag ID of this target |
| 6 | id:uint64 (id: 0); |
| 7 | |
| 8 | // Pose of target relative to field origin. |
| 9 | // NOTE: As of now, we only solve for the 2d pose (x, y, yaw) |
| 10 | // and all other values will be 0. |
| 11 | x:double (id: 1); |
| 12 | y:double (id: 2); |
| 13 | z:double (id: 3); |
| 14 | |
| 15 | roll:double (id: 4); |
| 16 | pitch:double (id: 5); |
| 17 | yaw:double (id: 6); |
| 18 | } |
| 19 | |
| 20 | // Map of all target poses on a field. |
| 21 | // This would be solved for by TargetMapper |
| 22 | table TargetMap { |
| 23 | target_poses:[TargetPoseFbs] (id: 0); |
| 24 | } |