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

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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
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29
wpimath/src/main/native/cpp/geometry/proto/Transform3dProto.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/geometry/proto/Transform3dProto.h"
#include "geometry3d.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::Transform3d>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<
wpi::proto::ProtobufTransform3d>(arena);
}
frc::Transform3d wpi::Protobuf<frc::Transform3d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTransform3d*>(&msg);
return frc::Transform3d{
wpi::UnpackProtobuf<frc::Translation3d>(m->translation()),
wpi::UnpackProtobuf<frc::Rotation3d>(m->rotation()),
};
}
void wpi::Protobuf<frc::Transform3d>::Pack(google::protobuf::Message* msg,
const frc::Transform3d& value) {
auto m = static_cast<wpi::proto::ProtobufTransform3d*>(msg);
wpi::PackProtobuf(m->mutable_translation(), value.Translation());
wpi::PackProtobuf(m->mutable_rotation(), value.Rotation());
}