Package org.parts3492.partslib.game

Interface FieldBase

public interface FieldBase
Base field class for generic info.

Extend this class in your project to add season specific field data.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final AprilTag[]
    APRILTAGS
    Array of all AprilTags on the field.
    static final edu.wpi.first.math.geometry.Pose2d
    EMPTY_FIELD_POSE2D
    EMPTY FIELD POSES
    static final edu.wpi.first.math.geometry.Pose3d
    EMPTY_FIELD_POSE3D
     
    static final edu.wpi.first.wpilibj.smartdashboard.Field2d
    FIELD2D
     
    static final double
    LENGTH
    The height of the field.
    static final double
    WIDTH
    The width of the field.

  • Method Summary

    Static Methods
    Modifier and Type
    Method
    Description
    static void
    clearFieldObject(edu.wpi.first.wpilibj.smartdashboard.FieldObject2d fieldObject)
     
    static edu.wpi.first.math.geometry.Pose2d
    conditionallyTransformToOppositeAlliance(edu.wpi.first.math.geometry.Pose2d pose)
    Conditionally transform a pose to the opposite of the current alliance.
    static edu.wpi.first.math.geometry.Pose3d
    conditionallyTransformToOppositeAlliance(edu.wpi.first.math.geometry.Pose3d pose)
    Conditionally transform a pose to the opposite of the current alliance.
    static edu.wpi.first.math.geometry.Translation2d
    conditionallyTransformToOppositeAlliance(edu.wpi.first.math.geometry.Translation2d translation)
    Conditionally transform a translation to the opposite of the current alliance.
    static List<edu.wpi.first.math.geometry.Pose2d>
    conditionallyTransformToOppositeAlliance(List<edu.wpi.first.math.geometry.Pose2d> poses)
    Conditionally transform a list of poses to the opposite of the current alliance.
    static int[]
    getAllTagIDs()
    Get all AprilTag IDs.
    static AprilTag
    getTag(int id)
    Get an AprilTag by its ID.
    static boolean
    isValidTag(int id)
    Check if an AprilTag is valid.
    static edu.wpi.first.math.geometry.Pose2d
    transformToOppositeAlliance(edu.wpi.first.math.geometry.Pose2d pose)
    Transform a pose to the opposite of the current alliance.
    static edu.wpi.first.math.geometry.Pose3d
    transformToOppositeAlliance(edu.wpi.first.math.geometry.Pose3d pose)
    Transform a pose to the opposite of the current alliance.
    static edu.wpi.first.math.geometry.Translation2d
    transformToOppositeAlliance(edu.wpi.first.math.geometry.Translation2d translation)
    Transform a translation to the opposite of the current alliance.
    static List<edu.wpi.first.math.geometry.Pose2d>
    transformToOppositeAlliance(List<edu.wpi.first.math.geometry.Pose2d> poses)
    Transform a list of poses to the opposite of the current alliance.

  • Field Details

    • FIELD2D

      static final edu.wpi.first.wpilibj.smartdashboard.Field2d FIELD2D

    • WIDTH

      static final double WIDTH
      The width of the field.

    • LENGTH

      static final double LENGTH
      The height of the field.

    • APRILTAGS

      static final AprilTag[] APRILTAGS
      Array of all AprilTags on the field.

    • EMPTY_FIELD_POSE2D

      static final edu.wpi.first.math.geometry.Pose2d EMPTY_FIELD_POSE2D
      EMPTY FIELD POSES

    • EMPTY_FIELD_POSE3D

      static final edu.wpi.first.math.geometry.Pose3d EMPTY_FIELD_POSE3D

  • Method Details

    • conditionallyTransformToOppositeAlliance

      static edu.wpi.first.math.geometry.Pose3d conditionallyTransformToOppositeAlliance(edu.wpi.first.math.geometry.Pose3d pose)
      Conditionally transform a pose to the opposite of the current alliance.
      Parameters:
      pose - The pose to transform.
      Returns:
      The transformed pose.

    • conditionallyTransformToOppositeAlliance

      static edu.wpi.first.math.geometry.Pose2d conditionallyTransformToOppositeAlliance(edu.wpi.first.math.geometry.Pose2d pose)
      Conditionally transform a pose to the opposite of the current alliance.
      Parameters:
      pose - The pose to transform.
      Returns:
      The transformed pose.

    • conditionallyTransformToOppositeAlliance

      static edu.wpi.first.math.geometry.Translation2d conditionallyTransformToOppositeAlliance(edu.wpi.first.math.geometry.Translation2d translation)
      Conditionally transform a translation to the opposite of the current alliance.
      Parameters:
      translation - The translation to transform.
      Returns:
      The transformed translation.

    • conditionallyTransformToOppositeAlliance

      static List<edu.wpi.first.math.geometry.Pose2d> conditionallyTransformToOppositeAlliance(List<edu.wpi.first.math.geometry.Pose2d> poses)
      Conditionally transform a list of poses to the opposite of the current alliance.
      Parameters:
      poses - The poses to transform.
      Returns:
      The transformed poses.

    • transformToOppositeAlliance

      static edu.wpi.first.math.geometry.Pose3d transformToOppositeAlliance(edu.wpi.first.math.geometry.Pose3d pose)
      Transform a pose to the opposite of the current alliance.
      Parameters:
      pose - The pose to transform.
      Returns:
      The transformed pose.

    • transformToOppositeAlliance

      static edu.wpi.first.math.geometry.Pose2d transformToOppositeAlliance(edu.wpi.first.math.geometry.Pose2d pose)
      Transform a pose to the opposite of the current alliance.
      Parameters:
      pose - The pose to transform.
      Returns:
      The transformed pose.

    • transformToOppositeAlliance

      static edu.wpi.first.math.geometry.Translation2d transformToOppositeAlliance(edu.wpi.first.math.geometry.Translation2d translation)
      Transform a translation to the opposite of the current alliance.
      Parameters:
      translation - The translation to transform.
      Returns:
      The transformed translation.

    • transformToOppositeAlliance

      static List<edu.wpi.first.math.geometry.Pose2d> transformToOppositeAlliance(List<edu.wpi.first.math.geometry.Pose2d> poses)
      Transform a list of poses to the opposite of the current alliance.
      Parameters:
      poses - The poses to transform.
      Returns:
      The transformed poses.

    • isValidTag

      static boolean isValidTag(int id)
      Check if an AprilTag is valid.
      Parameters:
      id - The ID of the AprilTag.
      Returns:
      True if the tag is valid.

    • getTag

      static AprilTag getTag(int id)
      Get an AprilTag by its ID.
      Parameters:
      id - The AprilTag ID.
      Returns:
      The AprilTag with the matching ID if the ID is valid, otherwise null.

    • getAllTagIDs

      static int[] getAllTagIDs()
      Get all AprilTag IDs.
      Returns:
      Array of AprilTag IDs.

    • clearFieldObject

      static void clearFieldObject(edu.wpi.first.wpilibj.smartdashboard.FieldObject2d fieldObject)