[apriltag] Add GetTags to C++ version of AprilTagFieldLayout (wpilibs…

…uite#5872)
Starlight220 · Nov 4, 2023 · 04a781b · 04a781b
1 parent 87a8a1c
commit 04a781b
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Showing 2 changed files with 15 additions and 0 deletions.
diff --git a/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp b/apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
@@ -49,6 +49,15 @@ units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
   return m_fieldWidth;
 }
 
+std::vector<AprilTag> AprilTagFieldLayout::GetTags() const {
+  std::vector<AprilTag> tags;
+  tags.reserve(m_apriltags.size());
+  for (const auto& tag : m_apriltags) {
+    tags.emplace_back(tag.second);
+  }
+  return tags;
+}
+
 void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
   switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:

diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
@@ -74,6 +74,12 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    */
   units::meter_t GetFieldWidth() const;
 
+  /**
+   * Returns a vector of all the april tags used in this layout.
+   * @return list of tags
+   */
+  std::vector<AprilTag> GetTags() const;
+
   /**
    * Sets the origin based on a predefined enumeration of coordinate frame
    * origins. The origins are calculated from the field dimensions.