Package xbot.common.subsystems.pose

Class GameField

java.lang.Object

xbot.common.subsystems.pose.GameField

@Singleton
public class GameField
extends Object

Represents the field the robot is on and provides helpers for transforming field coordinates.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	GameField.Symmetry	Represents the symmetry type of the field.

Constructor Summary

Constructors

Constructor	Description
GameField(AprilTagFieldLayout fieldLayout, GameField.Symmetry symmetry)	Creates a new GameField.

Method Summary

Modifier and Type	Method	Description
Translation2d	getFieldCenter()	Gets the center of the field.
Distance	getFieldLength()	Gets the length of the field.
Distance	getFieldWidth()	Gets the width of the field.
Pose2d	getMirroredPose(Pose2d original)	Gets the mirrored pose of a given pose per the field symmetry.
Rotation2d	getMirroredRotation(Rotation2d original)	Gets the mirrored rotation of a given rotation per the field symmetry.
Translation2d	getMirroredTranslation(Translation2d original)	Gets the mirrored translation of a given translation per the field symmetry.
GameField.Symmetry	getSymmetry()	Gets the symmetry of the field.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

GameField

@Inject
public GameField(AprilTagFieldLayout fieldLayout,
 GameField.Symmetry symmetry)

Creates a new GameField.

Parameters:

fieldLayout - The layout of the field.

symmetry - The symmetry of the field.

Method Details

getFieldWidth

public Distance getFieldWidth()

Gets the width of the field.

Returns:

The width of the field.

getFieldLength

public Distance getFieldLength()

Gets the length of the field.

Returns:

The length of the field.

getSymmetry

public GameField.Symmetry getSymmetry()

Gets the symmetry of the field.

Returns:

The symmetry of the field.

getFieldCenter

public Translation2d getFieldCenter()

Gets the center of the field.

Returns:

The center of the field. Distances are in meters.

getMirroredTranslation

public Translation2d getMirroredTranslation(Translation2d original)

Gets the mirrored translation of a given translation per the field symmetry.

Parameters:

original - The original translation. Distances are in meters.

Returns:

The mirrored translation. Distances are in meters.

getMirroredRotation

public Rotation2d getMirroredRotation(Rotation2d original)

Gets the mirrored rotation of a given rotation per the field symmetry.

Parameters:

original - The original rotation.

Returns:

The mirrored rotation.

getMirroredPose

public Pose2d getMirroredPose(Pose2d original)

Gets the mirrored pose of a given pose per the field symmetry.

Parameters:

original - The original pose. Distances are in meters.

Returns:

The mirrored pose. Distances are in meters.