Line with SerializedHierarchy

crates/calibration/Cargo.toml

@@ -12,5 +12,7 @@ levenberg-marquardt = { workspace = true }
 linear_algebra = { workspace = true }
 nalgebra = { workspace = true }
 projection = { workspace = true }
+serde = { workspace = true }
+serialize_hierarchy = { workspace = true }
 thiserror = { workspace = true }
 types = { workspace = true }

crates/calibration/src/lines.rs

@@ -2,9 +2,11 @@ use coordinate_systems::{Ground, Pixel};
 use geometry::line::{Line, Line2};
 use linear_algebra::Point2;
 use projection::Projection;
+use serde::{Deserialize, Serialize};
+use serialize_hierarchy::SerializeHierarchy;
 use types::camera_matrix::CameraMatrix;
 
-#[derive(Clone)]
+#[derive(Clone, Default, Debug, Deserialize, Serialize, SerializeHierarchy)]
 pub struct Lines<Frame> {
     pub border_line: Line2<Frame>,
     pub goal_box_line: Line2<Frame>,
@@ -39,9 +41,9 @@ fn project_line_and_map_error(
     line: Line2<Pixel>,
     which: &str,
 ) -> Result<Line2<Ground>, LinesError> {
-    Ok(Line(
-        project_point_and_map_error(matrix, line.0, format!("{which} point 0"))?,
-        project_point_and_map_error(matrix, line.1, format!("{which} point 1"))?,
+    Ok(Line::new(
+        project_point_and_map_error(matrix, line.first, format!("{which} point 0"))?,
+        project_point_and_map_error(matrix, line.second, format!("{which} point 1"))?,
     ))
 }
 

crates/calibration/src/measurement.rs

@@ -1,9 +1,11 @@
 use coordinate_systems::Pixel;
+use serde::{Deserialize, Serialize};
+use serialize_hierarchy::SerializeHierarchy;
 use types::{camera_matrix::CameraMatrix, camera_position::CameraPosition};
 
 use crate::lines::Lines;
 
-#[derive(Clone)]
+#[derive(Clone, Debug, Default, Deserialize, Serialize, SerializeHierarchy)]
 pub struct Measurement {
     pub position: CameraPosition,
     pub matrix: CameraMatrix,

crates/calibration/src/residuals.rs

@@ -58,13 +58,13 @@ impl Residuals {
             .signed_acute_angle_to_orthogonal(projected_lines.connecting_line);
         let distance_between_parallel_line_start_points = projected_lines
             .border_line
-            .distance_to_point(projected_lines.goal_box_line.0);
+            .distance_to_point(projected_lines.goal_box_line.first);
         let distance_between_parallel_line_center_points = projected_lines
             .border_line
             .distance_to_point(projected_lines.goal_box_line.center());
         let distance_between_parallel_line_end_points = projected_lines
             .border_line
-            .distance_to_point(projected_lines.goal_box_line.1);
+            .distance_to_point(projected_lines.goal_box_line.second);
 
         Ok(Residuals {
             border_to_connecting_angle,

crates/control/src/behavior/defend.rs

@@ -266,11 +266,11 @@ fn block_on_line(
 ) -> Pose2<Field> {
     let is_ball_in_front_of_defense_line = defense_line_x < ball_position.x();
     if is_ball_in_front_of_defense_line {
-        let defense_line = Line(
+        let defense_line = Line::new(
             point![defense_line_x, defense_line_y_range.start],
             point![defense_line_x, defense_line_y_range.end],
         );
-        let ball_target_line = Line(ball_position, target);
+        let ball_target_line = Line::new(ball_position, target);
         let intersection_point = defense_line.intersection(&ball_target_line);
         let defense_position = point![
             intersection_point.x(),

crates/control/src/behavior/intercept_ball.rs

@@ -62,7 +62,7 @@ pub fn execute(
                 return None;
             }
 
-            let ball_line = Line(
+            let ball_line = Line::new(
                 ball.ball_in_ground,
                 ball.ball_in_ground + ball.ball_in_ground_velocity,
             );

crates/control/src/camera_matrix_calculator.rs

@@ -164,10 +164,10 @@ fn project_penalty_area_on_images(
         .ok()?;
 
     Some(vec![
-        Line(penalty_top_left, penalty_top_right),
-        Line(penalty_bottom_left, penalty_bottom_right),
-        Line(penalty_bottom_left, penalty_top_left),
-        Line(penalty_bottom_right, penalty_top_right),
-        Line(corner_left, corner_right),
+        Line::new(penalty_top_left, penalty_top_right),
+        Line::new(penalty_bottom_left, penalty_bottom_right),
+        Line::new(penalty_bottom_left, penalty_top_left),
+        Line::new(penalty_bottom_right, penalty_top_right),
+        Line::new(corner_left, corner_right),
     ])
 }