mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-24 01:31:44 +00:00
55 lines
2.0 KiB
C++
55 lines
2.0 KiB
C++
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/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "photon/targeting/proto/PNPResultProto.h"
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#include "photon.pb.h"
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google::protobuf::Message* wpi::Protobuf<photon::PNPResult>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<
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photonvision::proto::ProtobufPNPResult>(arena);
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}
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photon::PNPResult wpi::Protobuf<photon::PNPResult>::Unpack(
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const google::protobuf::Message& msg) {
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auto m = static_cast<const photonvision::proto::ProtobufPNPResult*>(&msg);
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if (!m->is_present()) {
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return photon::PNPResult();
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}
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return photon::PNPResult{true,
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wpi::UnpackProtobuf<frc::Transform3d>(m->best()),
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m->best_reproj_err(),
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wpi::UnpackProtobuf<frc::Transform3d>(m->alt()),
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m->alt_reproj_err(),
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m->ambiguity()};
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}
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void wpi::Protobuf<photon::PNPResult>::Pack(google::protobuf::Message* msg,
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const photon::PNPResult& value) {
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auto m = static_cast<photonvision::proto::ProtobufPNPResult*>(msg);
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m->set_is_present(value.isPresent);
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wpi::PackProtobuf(m->mutable_best(), value.best);
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m->set_best_reproj_err(value.bestReprojErr);
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wpi::PackProtobuf(m->mutable_alt(), value.alt);
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m->set_alt_reproj_err(value.altReprojErr);
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m->set_ambiguity(value.ambiguity);
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}
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