RoadRunner compat, SDK hooks, inches, Localizer.

[ryleu]

Please leave bug reports on my fork of this repo, not in the comments here!

This is a big PR that justifies a major version change. Here's a basic synopsis:

• Introduced RoadRunner compatibility
• Implemented automatic initializing and cleaning with SDK hooks
• Converted meters to inches
• Added a localizer that works with RoadRunner

Let's go through the changes in order of how they show up in the "files changed" tab in GitHub.

README.md

• Bumped the copyright year to 2021
• Made notes about how some things have changed with v3.0.0
• Updated the sample code
• Fixed some formatting
• Fixed some typos

build.gradle (lib)

• Bumped the version name and code
• Removed FTCLib
• Added RoadRunner for the Localizer and Pose2d objects
• Added FtcCommon for the hooks
• Suppress a warning about the Google Play Store because it was bugging me
• Bumped junit version
• Bumped all of the android.test:* dependencies for the unit testing
• Added the main library as a dependency for the unit testing
• Fixed an implicit null warning because it was bugging me
• Changed a .equals to == because my linter was screaming at me

t265wrapper.cpp

• Added constants to convert between inches and meters
• Converted inches to meters where applicable
• Converted meters to inches where applicable
• Changed setOdometryInfo to setOdometryInfoRaw because setOdometryInfo is public now

t265wrapper.hpp

• Changed setOdometryInfo to setOdometryInfoRaw because setOdometryInfo is public now

PoseMath.java

• Added transformBy function that is equivalent to FTCLib's Pose2d's method
• Added relativeTo function that is equivalent to FTCLib's Pose2d's method

T265Camera.java

• Switched to RoadRunner objects
• Changed units from meters to inches
• Removed the static thingy from the enum (enums are always static)
• Fixed a typo in "mLastRecievedUpdate"
• Made an overload for setOdometryInfo so that it can be done after init
• Used PoseMath functions instead of FTCLib functions

T265Localizer.java

• Added a RoadRunner localizer that that uses the T265
• Added a function to set a callback that then sends odometry data to the camera

T265StartupHook.java

• Added an OnCreate hook to automatically initialize the T265
• Added an OnDestroy hook to automatically clean up after the T265
• Added a static slamera object that gets automatically initialized

TestT265Camera.java

• Switched to RoadRunner objects

[ryleu]

I still have to add support for relocalization maps and test it on actual hardware.

[ryleu]

If you want to help me test stuff, follow the instructions here.

Please leave change requests on this PR rather than as issues on my fork.

[leonte2005]

I got this error. Can you help me please?

[ryleu]

The maven repo was down, nothing I can do about that. Try a gradle sync with offline mode disabled.

[leonte2005]

Hi and thank you for your reply! It works on my dashboard. Not sure how good it is, but many thanks for your work!

În dum., 9 ian. 2022 la 19:33, Riley @.***> a scris:

The maven repo was down, nothing I can do about that. Try a gradle sync with offline mode disabled.

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