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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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37
wpimath/src/main/native/cpp/geometry/struct/Twist3dStruct.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/struct/Twist3dStruct.h"
namespace {
constexpr size_t kDxOff = 0;
constexpr size_t kDyOff = kDxOff + 8;
constexpr size_t kDzOff = kDyOff + 8;
constexpr size_t kRxOff = kDzOff + 8;
constexpr size_t kRyOff = kRxOff + 8;
constexpr size_t kRzOff = kRyOff + 8;
} // namespace
using StructType = wpi::Struct<frc::Twist3d>;
frc::Twist3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
return frc::Twist3d{
units::meter_t{wpi::UnpackStruct<double, kDxOff>(data)},
units::meter_t{wpi::UnpackStruct<double, kDyOff>(data)},
units::meter_t{wpi::UnpackStruct<double, kDzOff>(data)},
units::radian_t{wpi::UnpackStruct<double, kRxOff>(data)},
units::radian_t{wpi::UnpackStruct<double, kRyOff>(data)},
units::radian_t{wpi::UnpackStruct<double, kRzOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t, kSize> data,
const frc::Twist3d& value) {
wpi::PackStruct<kDxOff>(data, value.dx.value());
wpi::PackStruct<kDyOff>(data, value.dy.value());
wpi::PackStruct<kDzOff>(data, value.dz.value());
wpi::PackStruct<kRxOff>(data, value.rx.value());
wpi::PackStruct<kRyOff>(data, value.ry.value());
wpi::PackStruct<kRzOff>(data, value.rz.value());
}