Class FieldMapJson

java.lang.Object

frc.spectrumLib.vision.FieldMapJson

public final class FieldMapJson
extends Object

A layout as WPILib AprilTagFieldLayout JSON, for a coprocessor to load.

Written here rather than by WPILib's serializer, which re-derives each quaternion: it writes the 2026 fields' -0.0 components as 0.0. FieldMapHash formats those as -0.0000 and 0.0000, so a coprocessor that hashed WPILib's output would never match the robot. This writes the numbers the robot hashes.

Method Summary

Modifier and Type	Method	Description
static String	of(AprilTagFieldLayout layout)	The layout as JSON: {"tags":[{"ID","pose":{"translation":{x,y,z},"rotation": {"quaternion":{W,X,Y,Z}}}}],"field":{"length","width"}}, tags sorted by ID.

Methods inherited from class Object

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

Method Details

of

public static String of(AprilTagFieldLayout layout)

The layout as JSON: {"tags":[{"ID","pose":{"translation":{x,y,z},"rotation": {"quaternion":{W,X,Y,Z}}}}],"field":{"length","width"}}, tags sorted by ID.

Parameters:

layout - the field map

Returns:

the JSON text