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Fix misspellings #78

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Fix misspellings #78

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6 changes: 3 additions & 3 deletions src/localization/get_field_relitive_position.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
#include "src/utils/log.h"
namespace localization {

auto ToFeildRelitivePosition(tag_detection_t tag_relative_position,
auto ToFieldRelitivePosition(tag_detection_t tag_relative_position,
frc::Transform3d camera_to_robot,
const frc::AprilTagFieldLayout& apriltag_layout,
bool verbose) -> tag_detection_t {
Expand Down Expand Up @@ -75,12 +75,12 @@ auto ExtrinsicsJsonToCameraToRobot(nlohmann::json extrinsics_json)
return robot_to_camera.Inverse();
}

auto ToFeildRelitivePosition(std::vector<tag_detection_t> detections,
auto ToFieldRelitivePosition(std::vector<tag_detection_t> detections,
frc::Transform3d camera_to_robot,
const frc::AprilTagFieldLayout& apriltag_layout,
bool verbose) -> std::vector<tag_detection_t> {
for (tag_detection_t& detection : detections) {
detection = ToFeildRelitivePosition(detection, camera_to_robot,
detection = ToFieldRelitivePosition(detection, camera_to_robot,
apriltag_layout, verbose);
}
return detections;
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4 changes: 2 additions & 2 deletions src/localization/get_field_relitive_position.h
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Expand Up @@ -10,13 +10,13 @@ static frc::AprilTagFieldLayout kapriltag_layout =
frc::AprilTagFieldLayout("/bos/constants/2026-rebuilt-welded.json");

// returns camera to robot
auto ToFeildRelitivePosition(
auto ToFieldRelitivePosition(
std::vector<tag_detection_t> detections, frc::Transform3d camera_to_robot,
const frc::AprilTagFieldLayout& apriltag_layout = kapriltag_layout,
bool verbose = false) -> std::vector<tag_detection_t>;

// returns camera to robot
auto ToFeildRelitivePosition(
auto ToFieldRelitivePosition(
tag_detection_t tag_relative_position, frc::Transform3d camera_to_robot,
const frc::AprilTagFieldLayout& apriltag_layout = kapriltag_layout,
bool verbose = false) -> tag_detection_t;
Expand Down
2 changes: 1 addition & 1 deletion src/localization/run_localization.cc
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Expand Up @@ -26,7 +26,7 @@ void run_localization(camera::CameraSource& source,
camera::timestamped_frame_t timestamped_frame = source.Get();
streamer.WriteFrame(timestamped_frame.frame);
std::vector<localization::tag_detection_t> estimates =
localization::ToFeildRelitivePosition(
localization::ToFieldRelitivePosition(
detector->GetTagDetections(timestamped_frame), camera_to_robot);
LOG(INFO) << estimates.size() << "estimate size";
position_sender.Send(estimates, timer.Stop());
Expand Down