Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +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

34
wpimath/src/main/native/cpp/geometry/proto/Twist3dProto.cpp Normal file
View File

@@ -0,0 +1,34 @@
// 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/Twist3dProto.h"
#include "geometry3d.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::Twist3d>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufTwist3d>(
arena);
}
frc::Twist3d wpi::Protobuf<frc::Twist3d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufTwist3d*>(&msg);
return frc::Twist3d{
units::meter_t{m->dx()}, units::meter_t{m->dy()},
units::meter_t{m->dz()}, units::radian_t{m->rx()},
units::radian_t{m->ry()}, units::radian_t{m->rz()},
};
}
void wpi::Protobuf<frc::Twist3d>::Pack(google::protobuf::Message* msg,
const frc::Twist3d& value) {
auto m = static_cast<wpi::proto::ProtobufTwist3d*>(msg);
m->set_dx(value.dx.value());
m->set_dy(value.dy.value());
m->set_dz(value.dz.value());
m->set_rx(value.rx.value());
m->set_ry(value.ry.value());
m->set_rz(value.rz.value());
}