2025-Robot
Robot code for 2025 FRC season by Argos, FRC team #1756
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Classes | Namespaces | Functions | Variables
field_points.h File Reference
#include <argos_lib/general/angle_utils.h>
#include <frc/geometry/Pose2d.h>
#include <frc/geometry/Translation2d.h>
#include <frc/geometry/Translation3d.h>
#include <frc/spline/Spline.h>
#include <units/angle.h>
#include <units/length.h>
#include <vector>
#include "measure_up.h"

Go to the source code of this file.

Classes

struct  field_points::AprilTag
 

Namespaces

namespace  field_dimensions
 
namespace  utils
 
namespace  field_points
 
namespace  field_points::blue_alliance
 
namespace  field_points::blue_alliance::game_pieces
 
namespace  field_points::blue_alliance::april_tags_welded
 
namespace  field_points::blue_alliance::april_tags_andymark
 
namespace  field_points::red_alliance
 
namespace  field_points::red_alliance::game_pieces
 
namespace  field_points::red_alliance::april_tags_welded
 
namespace  field_points::red_alliance::april_tags_andymark
 

Functions

constexpr frc::Translation3d utils::ReflectFieldPoint (const frc::Translation3d source)
 Reflects the point source over the middle of the field to get equivelent points accross the field.
 
constexpr frc::Translation2d utils::ReflectFieldPoint (const frc::Translation2d source)
 
constexpr units::angle::degree_t utils::ReflectAngle (const units::angle::degree_t sourceAngle)
 
template<class T >
std::vector< T > utils::ReflectFieldPoint (const std::vector< T > source)
 
constexpr frc::Spline< 3 >::ControlVector utils::ReflectFieldPoint (const frc::Spline< 3 >::ControlVector source)
 
frc::Pose2d utils::ReflectFieldPoint (const frc::Pose2d source)
 
constexpr units::inch_t utils::ReflectYLine (const units::inch_t source)
 

Variables

constexpr auto field_dimensions::fieldMaxY = 315.5975_in
 
constexpr auto field_dimensions::fieldMaxX = 651.2225_in
 
constexpr auto field_dimensions::fieldMiddleX = fieldMaxX / 2
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::rh_pickup {12, {33.51_in, 25.80_in, 58.50_in}, 54_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::lh_pickup {13, {33.51_in, 291.20_in, 58.50_in}, 306_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::blue_barge {14, {325.68_in, 241.64_in, 73.54_in}, 180_deg, 30_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::red_barge {15, {325.68_in, 75.39_in, 73.54_in}, 180_deg, 30_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::processor {16, {235.73_in, 0.15_in, 51.25_in}, 90_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::reef_1 {17, {160.39_in, 130.17_in, 12.13_in}, 240_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::reef_2 {18, {144.00_in, 158.50_in, 12.13_in}, 180_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::reef_3 {19, {160.39_in, 186.83_in, 12.13_in}, 120_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::reef_4 {20, {193.10_in, 186.83_in, 12.13_in}, 60_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::reef_5 {21, {209.49_in, 158.50_in, 12.13_in}, 0_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_welded::reef_6 {22, {193.10_in, 130.17_in, 12.13_in}, 300_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::rh_pickup {12, {33.91_in, 24.73_in, 58.5_in}, 54_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::lh_pickup {13, {33.91_in, 291.9_in, 58.5_in}, 306_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::blue_barge {14, {325.68_in, 241.44_in, 73.54_in}, 180_deg, 30_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::red_barge {15, {325.68_in, 75.19_in, 73.54_in}, 180_deg, 30_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::processor {16, {238.49_in, 0.42_in, 51.25_in}, 90_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::reef_1 {17, {160.39_in, 129.97_in, 12.13_in}, 240_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::reef_2 {18, {144.0_in, 158.3_in, 12.13_in}, 180_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::reef_3 {19, {160.39_in, 186.63_in, 12.13_in}, 120_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::reef_4 {20, {193.1_in, 186.63_in, 12.13_in}, 60_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::reef_5 {21, {209.49_in, 158.3_in, 12.13_in}, 0_deg, 0_deg}
 
constexpr AprilTag field_points::blue_alliance::april_tags_andymark::reef_6 {22, {193.1_in, 129.97_in, 12.13_in}, 300_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::lh_pickup {1, {657.37_in, 25.80_in, 58.50_in}, 126_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::rh_pickup {2, {657.37_in, 291.20_in, 58.50_in}, 234_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::processor {3, {455.15_in, 317.15_in, 51.25_in}, 270_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::blue_barge {4, {365.20_in, 241.64_in, 73.54_in}, 0_deg, 30_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::red_barge {5, {365.20_in, 75.39_in, 73.54_in}, 0_deg, 30_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::reef_1 {6, {530.49_in, 130.17_in, 12.13_in}, 300_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::reef_2 {7, {546.87_in, 158.50_in, 12.13_in}, 0_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::reef_3 {8, {530.49_in, 186.83_in, 12.13_in}, 60_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::reef_4 {9, {497.77_in, 186.83_in, 12.13_in}, 120_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::reef_5 {10, {481.39_in, 158.50_in, 12.13_in}, 180_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_welded::reef_6 {11, {497.77_in, 130.17_in, 12.13_in}, 240_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::lh_pickup {1, {656.98_in, 24.73_in, 58.5_in}, 126_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::rh_pickup {2, {656.98_in, 291.9_in, 58.5_in}, 234_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::processor {3, {452.4_in, 316.21_in, 51.25_in}, 270_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::blue_barge {4, {365.2_in, 241.44_in, 73.54_in}, 0_deg, 30_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::red_barge {5, {365.2_in, 75.19_in, 73.54_in}, 0_deg, 30_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::reef_1 {6, {530.49_in, 129.97_in, 12.13_in}, 300_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::reef_2 {7, {546.87_in, 158.3_in, 12.13_in}, 0_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::reef_3 {8, {530.49_in, 186.63_in, 12.13_in}, 60_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::reef_4 {9, {497.77_in, 186.63_in, 12.13_in}, 120_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::reef_5 {10, {481.39_in, 158.3_in, 12.13_in}, 180_deg, 0_deg}
 
constexpr AprilTag field_points::red_alliance::april_tags_andymark::reef_6 {11, {497.77_in, 129.97_in, 12.13_in}, 240_deg, 0_deg}