wpi::Field2d Class Reference

2D representation of game field for dashboards. More...

#include <wpi/smartdashboard/Field2d.hpp>

Inheritance diagram for wpi::Field2d:

Public Types
using	Entry = size_t

Public Member Functions
	Field2d ()
	Field2d (Field2d &&rhs)
Field2d &	operator= (Field2d &&rhs)
void	SetRobotPose (const wpi::math::Pose2d &pose)
	Set the robot pose from a Pose object.
void	SetRobotPose (wpi::units::meter_t x, wpi::units::meter_t y, wpi::math::Rotation2d rotation)
	Set the robot pose from x, y, and rotation.
wpi::math::Pose2d	GetRobotPose () const
	Get the robot pose.
FieldObject2d *	GetObject (std::string_view name)
	Get or create a field object.
FieldObject2d *	GetRobotObject ()
	Get the robot object.
void	InitSendable (wpi::nt::NTSendableBuilder &builder) override
	Initializes this Sendable object.
Public Member Functions inherited from wpi::nt::NTSendable
void	InitSendable (wpi::util::SendableBuilder &builder) override
	Initializes this Sendable object.
Public Member Functions inherited from wpi::util::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::util::SendableHelper< Field2d >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default

Additional Inherited Members
Protected Member Functions inherited from wpi::util::SendableHelper< Field2d >
constexpr	~SendableHelper ()

Detailed Description

2D representation of game field for dashboards.

An object's pose is the location shown on the dashboard view. Note that for the robot, this may or may not match the internal odometry. For example, if the robot is shown at a particular starting location, the pose in this class would represent the actual location on the field, but the robot's internal state might have a 0,0,0 pose (unless it's initialized to something different).

As the user is able to edit the pose, code performing updates should get the robot pose, transform it as appropriate (e.g. based on wheel odometry), and set the new pose.

This class provides methods to set the robot pose, but other objects can also be shown by using the GetObject() function. Other objects can also have multiple poses (which will show the object at multiple locations).

Member Typedef Documentation

Entry

using wpi::Field2d::Entry = size_t

Constructor & Destructor Documentation

Field2d() [1/2]

wpi::Field2d::Field2d

(

)

Field2d() [2/2]

wpi::Field2d::Field2d

(

Field2d &&

rhs

)

Member Function Documentation

GetObject()

FieldObject2d * wpi::Field2d::GetObject

(

std::string_view

name

)

Get or create a field object.

Returns

Field object

GetRobotObject()

FieldObject2d * wpi::Field2d::GetRobotObject

(

)

Get the robot object.

Returns

Field object for robot

GetRobotPose()

wpi::math::Pose2d wpi::Field2d::GetRobotPose

(

)

const

Get the robot pose.

Returns

2D pose

InitSendable()

void wpi::Field2d::InitSendable ( wpi::nt::NTSendableBuilder & builder )

overridevirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::nt::NTSendable.

operator=()

Field2d & wpi::Field2d::operator=

(

Field2d &&

rhs

)

SetRobotPose() [1/2]

void wpi::Field2d::SetRobotPose

(

const wpi::math::Pose2d &

pose

)

Set the robot pose from a Pose object.

Parameters

pose

2D pose

SetRobotPose() [2/2]

void wpi::Field2d::SetRobotPose	(	wpi::units::meter_t	x,
		wpi::units::meter_t	y,
		wpi::math::Rotation2d	rotation )

Set the robot pose from x, y, and rotation.

Parameters

x	X location
y	Y location
rotation	rotation

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The documentation for this class was generated from the following file:

• wpi/smartdashboard/Field2d.hpp