mirror of
https://github.com/wpilibsuite/allwpilib
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35 lines
1.2 KiB
C++
35 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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#include "frc/geometry/Twist3d.h"
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#include "geometry3d.pb.h"
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using namespace frc;
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google::protobuf::Message* wpi::Protobuf<frc::Twist3d>::New(
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google::protobuf::Arena* arena) {
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return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufTwist3d>(
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arena);
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}
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frc::Twist3d wpi::Protobuf<frc::Twist3d>::Unpack(
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const google::protobuf::Message& msg) {
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auto m = static_cast<const wpi::proto::ProtobufTwist3d*>(&msg);
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return frc::Twist3d{units::meter_t{m->dx()}, units::meter_t{m->dy()},
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units::meter_t{m->dz()}, units::radian_t{m->rx()},
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units::radian_t{m->ry()}, units::radian_t{m->rz()}};
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}
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void wpi::Protobuf<frc::Twist3d>::Pack(google::protobuf::Message* msg,
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const frc::Twist3d& value) {
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auto m = static_cast<wpi::proto::ProtobufTwist3d*>(msg);
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m->set_dx(value.dx.value());
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m->set_dy(value.dy.value());
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m->set_dz(value.dz.value());
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m->set_rx(value.rx.value());
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m->set_ry(value.ry.value());
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m->set_rz(value.rz.value());
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}
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