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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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29
wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.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/struct/DifferentialDriveFeedforwardStruct.h"
namespace {
constexpr size_t kKvLinearOff = 0;
constexpr size_t kKaLinearOff = kKvLinearOff + 8;
constexpr size_t kKvAngularOff = kKaLinearOff + 8;
constexpr size_t kKaAngularOff = kKvAngularOff + 8;
} // namespace
frc::DifferentialDriveFeedforward wpi::Struct<
frc::DifferentialDriveFeedforward>::Unpack(std::span<const uint8_t> data) {
return {
decltype(1_V / 1_mps){wpi::UnpackStruct<double, kKvLinearOff>(data)},
decltype(1_V / 1_mps_sq){wpi::UnpackStruct<double, kKaLinearOff>(data)},
decltype(1_V / 1_mps){wpi::UnpackStruct<double, kKvAngularOff>(data)},
decltype(1_V / 1_mps_sq){wpi::UnpackStruct<double, kKaAngularOff>(data)}};
}
void wpi::Struct<frc::DifferentialDriveFeedforward>::Pack(
std::span<uint8_t> data, const frc::DifferentialDriveFeedforward& value) {
wpi::PackStruct<kKvLinearOff>(data, value.m_kVLinear.value());
wpi::PackStruct<kKaLinearOff>(data, value.m_kALinear.value());
wpi::PackStruct<kKvAngularOff>(data, value.m_kVAngular.value());
wpi::PackStruct<kKaAngularOff>(data, value.m_kAAngular.value());
}