Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-22 01:11:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Move struct/proto classes to separate files (#5918)

Browse Source 
Also add unit tests.
This commit is contained in:
PJ Reiniger
2023-11-21 13:11:57 -05:00
committed by GitHub
parent 80d7ad58ea
commit 35744a036e
141 changed files with 3360 additions and 1379 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
wpimath/src/main/native/cpp/geometry/Pose2d.cpp
View File

@@ -9,7 +9,6 @@
#include <wpi/json.h>
#include "frc/MathUtil.h"
#include "geometry2d.pb.h"
using namespace frc;
@@ -109,23 +108,3 @@ void frc::from_json(const wpi::json& json, Pose2d& pose) {
pose = Pose2d{json.at("translation").get<Translation2d>(),
json.at("rotation").get<Rotation2d>()};
}
google::protobuf::Message* wpi::Protobuf<frc::Pose2d>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufPose2d>(
arena);
}
frc::Pose2d wpi::Protobuf<frc::Pose2d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufPose2d*>(&msg);
return Pose2d{wpi::UnpackProtobuf<frc::Translation2d>(m->translation()),
wpi::UnpackProtobuf<frc::Rotation2d>(m->rotation())};
}
void wpi::Protobuf<frc::Pose2d>::Pack(google::protobuf::Message* msg,
const frc::Pose2d& value) {
auto m = static_cast<wpi::proto::ProtobufPose2d*>(msg);
wpi::PackProtobuf(m->mutable_translation(), value.Translation());
wpi::PackProtobuf(m->mutable_rotation(), value.Rotation());
}