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[wpimath] Add remaining struct and protobuf implementations (#5953)

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This commit is contained in:
Joseph Eng
2024-07-29 07:55:44 -07:00
committed by GitHub
parent 3e1e3fb4ca
commit 073192d513
112 changed files with 3989 additions and 45 deletions
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36
wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/controller/proto/DifferentialDriveFeedforwardProto.h"
#include <wpi/ProtoHelper.h>
#include "controller.pb.h"
google::protobuf::Message* wpi::Protobuf<
frc::DifferentialDriveFeedforward>::New(google::protobuf::Arena* arena) {
return wpi::CreateMessage<wpi::proto::ProtobufDifferentialDriveFeedforward>(
arena);
}
frc::DifferentialDriveFeedforward
wpi::Protobuf<frc::DifferentialDriveFeedforward>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufDifferentialDriveFeedforward*>(
&msg);
return {decltype(1_V / 1_mps){m->kv_linear()},
decltype(1_V / 1_mps_sq){m->ka_linear()},
decltype(1_V / 1_mps){m->kv_angular()},
decltype(1_V / 1_mps_sq){m->ka_angular()}};
}
void wpi::Protobuf<frc::DifferentialDriveFeedforward>::Pack(
google::protobuf::Message* msg,
const frc::DifferentialDriveFeedforward& value) {
auto m = static_cast<wpi::proto::ProtobufDifferentialDriveFeedforward*>(msg);
m->set_kv_linear(value.m_kVLinear.value());
m->set_ka_linear(value.m_kALinear.value());
m->set_kv_angular(value.m_kVAngular.value());
m->set_ka_angular(value.m_kAAngular.value());
}