Field coordinates and mirroring

VantagePath Studio authors paths in inches with (0, 0) at the bottom-left inside corner of the field. Positive X points right, positive Y points up, and headings use VantagePath's mathematical convention: zero along positive X and positive rotation counter-clockwise.

This corner frame is an editor convention. The official VEX V5 GPS origin is actually at the centre of the field, not at a corner. GPS X and Y span approximately -1.8 m to +1.8 m, and the sensor heading uses zero toward the top of the field with positive rotation clockwise. See the official VEX GPS guide.

Convert a sensor pose

vantage::Pose2d gpsPose{xMetres, yMetres, gpsHeadingRadians};
vantage::Pose2d editorPose = vantage::vexGpsToCorner(
    gpsPose, {3.6576, 3.6576});

cornerToVexGps() performs the inverse conversion. Both functions preserve the supplied linear unit, so field dimensions must use that same unit.

Mirror a route

auto otherAlliance = vantage::mirrorWaypoints(
    waypoints, vantage::FieldMirror::kAlliance180, {144.0, 144.0});
auto otherStartingSide = vantage::mirrorWaypoints(
    waypoints, vantage::FieldMirror::kLeftRight, {144.0, 144.0});

kAlliance180 rotates positions and headings by 180 degrees. The left/right and bottom/top options are true reflections. reverseWaypoints() reverses the ordered geometry, while TrajectoryConfig::reversed makes the robot drive the same ordered geometry backward.

Studio

Open VantagePath Studio in a browser. The dependency-free source is in the repository's editor/ directory. It supports exact VantagePath quintic previews, draggable tangent controls, alliance overlays, all mirror modes, reverse order and reverse driving, undo/redo, browser autosave, .vpath files, and C++ export.

The Override field overlay follows version 1.1 of the 2026-27 game manual's diagonal Autonomous Line, Midfield, alliance-side starting areas, Goals, Loaders, and Toggles. Treat the editor overlay as planning guidance; the current official manual remains authoritative for legality.

Field-image calibration

Studio uses the same calibrated field asset as the separate iSaaacH/vex-pathing application. It is an orthographic top-down render cropped at the measured foam-floor edges and resized to 2048 × 2048. The square image is mapped directly onto coordinates (0, 0) through (144, 144) with no drawing offset or secondary scale factor.

The overlay grid is generated independently at 24-inch intervals. Its seven lines per axis bound six field tiles and provide a standing visual calibration check. Goal centres in the calibrated image land within 0.37 inches of the expected 24-inch lattice. See Studio's NOTICE.md for the CC BY 4.0 attribution.