mirror of
https://github.com/wpilibsuite/allwpilib
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34 lines
1.2 KiB
C
34 lines
1.2 KiB
C
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <fmt/format.h>
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#include <wpi/ct_string.h>
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#include <wpi/struct/Struct.h>
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#include "frc/EigenCore.h"
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template <int Size, int Options, int MaxRows, int MaxCols>
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struct wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
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static constexpr ct_string kTypeName =
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wpi::Concat("Vector__"_ct_string, wpi::NumToCtString<Size>());
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static constexpr std::string_view GetTypeName() { return kTypeName; }
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static constexpr size_t GetSize() { return Size * 8; }
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static constexpr ct_string kSchema = wpi::Concat(
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"double data["_ct_string, wpi::NumToCtString<Size>(), "]"_ct_string);
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static constexpr std::string_view GetSchema() { return kSchema; }
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static frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
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std::span<const uint8_t> data);
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static void Pack(
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std::span<uint8_t> data,
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const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value);
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};
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static_assert(wpi::StructSerializable<frc::Vectord<1>>);
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static_assert(wpi::StructSerializable<frc::Vectord<3>>);
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#include "frc/struct/VectorStruct.inc"
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