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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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38
wpimath/src/main/native/include/frc/geometry/Pose2d.h
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@@ -9,8 +9,6 @@
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Rotation2d.h"
#include "frc/geometry/Transform2d.h"
@@ -215,38 +213,6 @@ void from_json(const wpi::json& json, Pose2d& pose);
} // namespace frc
template <>
struct wpi::Struct<frc::Pose2d> {
static constexpr std::string_view kTypeString = "struct:Pose2d";
static constexpr size_t kSize = wpi::Struct<frc::Translation2d>::kSize +
wpi::Struct<frc::Rotation2d>::kSize;
static constexpr std::string_view kSchema =
"Translation2d translation;Rotation2d rotation";
static frc::Pose2d Unpack(std::span<const uint8_t, kSize> data) {
return {wpi::UnpackStruct<frc::Translation2d, 0>(data),
wpi::UnpackStruct<frc::Rotation2d, kRotationOff>(data)};
}
static void Pack(std::span<uint8_t, kSize> data, const frc::Pose2d& value) {
wpi::PackStruct<0>(data, value.Translation());
wpi::PackStruct<kRotationOff>(data, value.Rotation());
}
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Translation2d>(fn);
wpi::ForEachStructSchema<frc::Rotation2d>(fn);
}
private:
static constexpr size_t kRotationOff = wpi::Struct<frc::Translation2d>::kSize;
};
static_assert(wpi::HasNestedStruct<frc::Pose2d>);
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Pose2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Pose2d& value);
};
#include "frc/geometry/proto/Pose2dProto.h"
#include "frc/geometry/struct/Pose2dStruct.h"
#include "frc/geometry/Pose2d.inc"

37
wpimath/src/main/native/include/frc/geometry/Pose3d.h
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@@ -6,8 +6,6 @@
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Pose2d.h"
#include "frc/geometry/Rotation3d.h"
@@ -217,36 +215,5 @@ void from_json(const wpi::json& json, Pose3d& pose);
} // namespace frc
template <>
struct wpi::Struct<frc::Pose3d> {
static constexpr std::string_view kTypeString = "struct:Pose3d";
static constexpr size_t kSize = wpi::Struct<frc::Translation3d>::kSize +
wpi::Struct<frc::Rotation3d>::kSize;
static constexpr std::string_view kSchema =
"Translation3d translation;Rotation3d rotation";
static frc::Pose3d Unpack(std::span<const uint8_t, kSize> data) {
return {wpi::UnpackStruct<frc::Translation3d, 0>(data),
wpi::UnpackStruct<frc::Rotation3d, kRotationOff>(data)};
}
static void Pack(std::span<uint8_t, kSize> data, const frc::Pose3d& value) {
wpi::PackStruct<0>(data, value.Translation());
wpi::PackStruct<kRotationOff>(data, value.Rotation());
}
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Translation3d>(fn);
wpi::ForEachStructSchema<frc::Rotation3d>(fn);
}
private:
static constexpr size_t kRotationOff = wpi::Struct<frc::Translation3d>::kSize;
};
static_assert(wpi::HasNestedStruct<frc::Pose3d>);
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Pose3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Pose3d& value);
};
#include "frc/geometry/proto/Pose3dProto.h"
#include "frc/geometry/struct/Pose3dStruct.h"

32
wpimath/src/main/native/include/frc/geometry/Quaternion.h
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@@ -7,8 +7,6 @@
#include <Eigen/Core>
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
namespace frc {
@@ -190,31 +188,5 @@ void from_json(const wpi::json& json, Quaternion& quaternion);
} // namespace frc
template <>
struct wpi::Struct<frc::Quaternion> {
static constexpr std::string_view kTypeString = "struct:Quaternion";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double w;double x;double y;double z";
static frc::Quaternion Unpack(std::span<const uint8_t, 32> data) {
return {wpi::UnpackStruct<double, 0>(data),
wpi::UnpackStruct<double, 8>(data),
wpi::UnpackStruct<double, 16>(data),
wpi::UnpackStruct<double, 24>(data)};
}
static void Pack(std::span<uint8_t, 32> data, const frc::Quaternion& value) {
wpi::PackStruct<0>(data, value.W());
wpi::PackStruct<8>(data, value.X());
wpi::PackStruct<16>(data, value.Y());
wpi::PackStruct<24>(data, value.Z());
}
};
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Quaternion> {
static constexpr std::string_view kTypeString = "proto:Quaternion";
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Quaternion Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Quaternion& value);
};
#include "frc/geometry/proto/QuaternionProto.h"
#include "frc/geometry/struct/QuaternionStruct.h"

25
wpimath/src/main/native/include/frc/geometry/Rotation2d.h
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@@ -6,8 +6,6 @@
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "units/angle.h"
@@ -178,25 +176,6 @@ void from_json(const wpi::json& json, Rotation2d& rotation);
} // namespace frc
template <>
struct wpi::Struct<frc::Rotation2d> {
static constexpr std::string_view kTypeString = "struct:Rotation2d";
static constexpr size_t kSize = 8;
static constexpr std::string_view kSchema = "double value";
static frc::Rotation2d Unpack(std::span<const uint8_t, 8> data) {
return units::radian_t{wpi::UnpackStruct<double>(data)};
}
static void Pack(std::span<uint8_t, 8> data, const frc::Rotation2d& value) {
wpi::PackStruct(data, value.Radians().value());
}
};
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Rotation2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Rotation2d& value);
};
#include "frc/geometry/proto/Rotation2dProto.h"
#include "frc/geometry/struct/Rotation2dStruct.h"
#include "frc/geometry/Rotation2d.inc"

31
wpimath/src/main/native/include/frc/geometry/Rotation3d.h
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@@ -7,8 +7,6 @@
#include <Eigen/Core>
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Quaternion.h"
#include "frc/geometry/Rotation2d.h"
@@ -197,30 +195,5 @@ void from_json(const wpi::json& json, Rotation3d& rotation);
} // namespace frc
template <>
struct wpi::Struct<frc::Rotation3d> {
static constexpr std::string_view kTypeString = "struct:Rotation3d";
static constexpr size_t kSize = wpi::Struct<frc::Quaternion>::kSize;
static constexpr std::string_view kSchema = "Quaternion q";
static frc::Rotation3d Unpack(std::span<const uint8_t, kSize> data) {
return frc::Rotation3d{wpi::UnpackStruct<frc::Quaternion, 0>(data)};
}
static void Pack(std::span<uint8_t, kSize> data,
const frc::Rotation3d& value) {
wpi::PackStruct<0>(data, value.GetQuaternion());
}
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Quaternion>(fn);
}
};
static_assert(wpi::HasNestedStruct<frc::Rotation3d>);
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Rotation3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Rotation3d& value);
};
#include "frc/geometry/proto/Rotation3dProto.h"
#include "frc/geometry/struct/Rotation3dStruct.h"

40
wpimath/src/main/native/include/frc/geometry/Transform2d.h
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@@ -5,8 +5,6 @@
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Translation2d.h"
@@ -126,40 +124,6 @@ class WPILIB_DLLEXPORT Transform2d {
};
} // namespace frc
template <>
struct wpi::Struct<frc::Transform2d> {
static constexpr std::string_view kTypeString = "struct:Transform2d";
static constexpr size_t kSize = wpi::Struct<frc::Translation2d>::kSize +
wpi::Struct<frc::Rotation2d>::kSize;
static constexpr std::string_view kSchema =
"Translation2d translation;Rotation2d rotation";
static frc::Transform2d Unpack(std::span<const uint8_t, kSize> data) {
return {wpi::UnpackStruct<frc::Translation2d, 0>(data),
wpi::UnpackStruct<frc::Rotation2d, kRotationOff>(data)};
}
static void Pack(std::span<uint8_t, kSize> data,
const frc::Transform2d& value) {
wpi::PackStruct<0>(data, value.Translation());
wpi::PackStruct<kRotationOff>(data, value.Rotation());
}
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Translation2d>(fn);
wpi::ForEachStructSchema<frc::Rotation2d>(fn);
}
private:
static constexpr size_t kRotationOff = wpi::Struct<frc::Translation2d>::kSize;
};
static_assert(wpi::HasNestedStruct<frc::Transform2d>);
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Transform2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Transform2d& value);
};
#include "frc/geometry/proto/Transform2dProto.h"
#include "frc/geometry/struct/Transform2dStruct.h"
#include "frc/geometry/Transform2d.inc"

39
wpimath/src/main/native/include/frc/geometry/Transform3d.h
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@@ -5,8 +5,6 @@
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Translation3d.h"
@@ -132,38 +130,5 @@ class WPILIB_DLLEXPORT Transform3d {
};
} // namespace frc
template <>
struct wpi::Struct<frc::Transform3d> {
static constexpr std::string_view kTypeString = "struct:Transform3d";
static constexpr size_t kSize = wpi::Struct<frc::Translation3d>::kSize +
wpi::Struct<frc::Rotation3d>::kSize;
static constexpr std::string_view kSchema =
"Translation3d translation;Rotation3d rotation";
static frc::Transform3d Unpack(std::span<const uint8_t, kSize> data) {
return {wpi::UnpackStruct<frc::Translation3d, 0>(data),
wpi::UnpackStruct<frc::Rotation3d, kRotationOff>(data)};
}
static void Pack(std::span<uint8_t, kSize> data,
const frc::Transform3d& value) {
wpi::PackStruct<0>(data, value.Translation());
wpi::PackStruct<kRotationOff>(data, value.Rotation());
}
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Translation3d>(fn);
wpi::ForEachStructSchema<frc::Rotation3d>(fn);
}
private:
static constexpr size_t kRotationOff = wpi::Struct<frc::Translation3d>::kSize;
};
static_assert(wpi::HasNestedStruct<frc::Transform3d>);
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Transform3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Transform3d& value);
};
#include "frc/geometry/proto/Transform3dProto.h"
#include "frc/geometry/struct/Transform3dStruct.h"

28
wpimath/src/main/native/include/frc/geometry/Translation2d.h
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@@ -9,8 +9,6 @@
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Rotation2d.h"
#include "units/length.h"
@@ -200,28 +198,6 @@ void from_json(const wpi::json& json, Translation2d& state);
} // namespace frc
template <>
struct wpi::Struct<frc::Translation2d> {
static constexpr std::string_view kTypeString = "struct:Translation2d";
static constexpr size_t kSize = 16;
static constexpr std::string_view kSchema = "double x;double y";
static frc::Translation2d Unpack(std::span<const uint8_t, 16> data) {
return {units::meter_t{wpi::UnpackStruct<double, 0>(data)},
units::meter_t{wpi::UnpackStruct<double, 8>(data)}};
}
static void Pack(std::span<uint8_t, 16> data,
const frc::Translation2d& value) {
wpi::PackStruct<0>(data, value.X().value());
wpi::PackStruct<8>(data, value.Y().value());
}
};
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Translation2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Translation2d& value);
};
#include "frc/geometry/proto/Translation2dProto.h"
#include "frc/geometry/struct/Translation2dStruct.h"
#include "frc/geometry/Translation2d.inc"

30
wpimath/src/main/native/include/frc/geometry/Translation3d.h
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@@ -6,8 +6,6 @@
#include <wpi/SymbolExports.h>
#include <wpi/json_fwd.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Rotation3d.h"
#include "frc/geometry/Translation2d.h"
@@ -185,30 +183,6 @@ void from_json(const wpi::json& json, Translation3d& state);
} // namespace frc
template <>
struct wpi::Struct<frc::Translation3d> {
static constexpr std::string_view kTypeString = "struct:Translation3d";
static constexpr size_t kSize = 24;
static constexpr std::string_view kSchema = "double x;double y;double z";
static frc::Translation3d Unpack(std::span<const uint8_t, 24> data) {
return {units::meter_t{wpi::UnpackStruct<double, 0>(data)},
units::meter_t{wpi::UnpackStruct<double, 8>(data)},
units::meter_t{wpi::UnpackStruct<double, 16>(data)}};
}
static void Pack(std::span<uint8_t, 24> data,
const frc::Translation3d& value) {
wpi::PackStruct<0>(data, value.X().value());
wpi::PackStruct<8>(data, value.Y().value());
wpi::PackStruct<16>(data, value.Z().value());
}
};
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Translation3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Translation3d& value);
};
#include "frc/geometry/proto/Translation3dProto.h"
#include "frc/geometry/struct/Translation3dStruct.h"
#include "frc/geometry/Translation3d.inc"

28
wpimath/src/main/native/include/frc/geometry/Twist2d.h
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@@ -5,8 +5,6 @@
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "units/angle.h"
#include "units/length.h"
@@ -60,27 +58,5 @@ struct WPILIB_DLLEXPORT Twist2d {
};
} // namespace frc
template <>
struct wpi::Struct<frc::Twist2d> {
static constexpr std::string_view kTypeString = "struct:Twist2d";
static constexpr size_t kSize = 24;
static constexpr std::string_view kSchema =
"double dx;double dy;double dtheta";
static frc::Twist2d Unpack(std::span<const uint8_t, 24> data) {
return {units::meter_t{wpi::UnpackStruct<double, 0>(data)},
units::meter_t{wpi::UnpackStruct<double, 8>(data)},
units::radian_t{wpi::UnpackStruct<double, 16>(data)}};
}
static void Pack(std::span<uint8_t, 24> data, const frc::Twist2d& value) {
wpi::PackStruct<0>(data, value.dx.value());
wpi::PackStruct<8>(data, value.dy.value());
wpi::PackStruct<16>(data, value.dtheta.value());
}
};
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Twist2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Twist2d& value);
};
#include "frc/geometry/proto/Twist2dProto.h"
#include "frc/geometry/struct/Twist2dStruct.h"

35
wpimath/src/main/native/include/frc/geometry/Twist3d.h
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@@ -5,8 +5,6 @@
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Rotation3d.h"
#include "units/angle.h"
@@ -80,34 +78,5 @@ struct WPILIB_DLLEXPORT Twist3d {
};
} // namespace frc
template <>
struct wpi::Struct<frc::Twist3d> {
static constexpr std::string_view kTypeString = "struct:Twist3d";
static constexpr size_t kSize = 48;
static constexpr std::string_view kSchema =
"double dx;double dy;double dz;double rx;double ry;double rz";
static frc::Twist3d Unpack(std::span<const uint8_t, 48> data) {
return {units::meter_t{wpi::UnpackStruct<double, 0>(data)},
units::meter_t{wpi::UnpackStruct<double, 8>(data)},
units::meter_t{wpi::UnpackStruct<double, 16>(data)},
units::radian_t{wpi::UnpackStruct<double, 24>(data)},
units::radian_t{wpi::UnpackStruct<double, 32>(data)},
units::radian_t{wpi::UnpackStruct<double, 40>(data)}};
}
static void Pack(std::span<uint8_t, 48> data, const frc::Twist3d& value) {
wpi::PackStruct<0>(data, value.dx.value());
wpi::PackStruct<8>(data, value.dy.value());
wpi::PackStruct<16>(data, value.dz.value());
wpi::PackStruct<24>(data, value.rx.value());
wpi::PackStruct<32>(data, value.ry.value());
wpi::PackStruct<40>(data, value.rz.value());
}
};
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist3d> {
static constexpr std::string_view kTypeString = "proto:Twist3d";
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Twist3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Twist3d& value);
};
#include "frc/geometry/proto/Twist3dProto.h"
#include "frc/geometry/struct/Twist3dStruct.h"

17
wpimath/src/main/native/include/frc/geometry/proto/Pose2dProto.h Normal file
View File

@@ -0,0 +1,17 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Pose2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Pose2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Pose2d& value);
};

17
wpimath/src/main/native/include/frc/geometry/proto/Pose3dProto.h Normal file
View File

@@ -0,0 +1,17 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Pose3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Pose3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Pose3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Pose3d& value);
};

18
wpimath/src/main/native/include/frc/geometry/proto/QuaternionProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Quaternion.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Quaternion> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Quaternion Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Quaternion& value);
};

18
wpimath/src/main/native/include/frc/geometry/proto/Rotation2dProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Rotation2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Rotation2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Rotation2d& value);
};

18
wpimath/src/main/native/include/frc/geometry/proto/Rotation3dProto.h Normal file
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@@ -0,0 +1,18 @@
// 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Rotation3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Rotation3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Rotation3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Rotation3d& value);
};

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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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Transform2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Transform2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Transform2d& value);
};

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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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Transform3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Transform3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Transform3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Transform3d& value);
};

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wpimath/src/main/native/include/frc/geometry/proto/Translation2dProto.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Translation2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Translation2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Translation2d& value);
};

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wpimath/src/main/native/include/frc/geometry/proto/Translation3dProto.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Translation3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Translation3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Translation3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg,
const frc::Translation3d& value);
};

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wpimath/src/main/native/include/frc/geometry/proto/Twist2dProto.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Twist2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist2d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Twist2d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Twist2d& value);
};

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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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/protobuf/Protobuf.h>
#include "frc/geometry/Twist3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Protobuf<frc::Twist3d> {
static google::protobuf::Message* New(google::protobuf::Arena* arena);
static frc::Twist3d Unpack(const google::protobuf::Message& msg);
static void Pack(google::protobuf::Message* msg, const frc::Twist3d& value);
};

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wpimath/src/main/native/include/frc/geometry/struct/Pose2dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Pose2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose2d> {
static constexpr std::string_view kTypeString = "struct:Pose2d";
static constexpr size_t kSize = wpi::Struct<frc::Translation2d>::kSize +
wpi::Struct<frc::Rotation2d>::kSize;
static constexpr std::string_view kSchema =
"Translation2d translation;Rotation2d rotation";
static frc::Pose2d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data, const frc::Pose2d& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::Pose2d>);

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wpimath/src/main/native/include/frc/geometry/struct/Pose3dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Pose3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
static constexpr std::string_view kTypeString = "struct:Pose3d";
static constexpr size_t kSize = wpi::Struct<frc::Translation3d>::kSize +
wpi::Struct<frc::Rotation3d>::kSize;
static constexpr std::string_view kSchema =
"Translation3d translation;Rotation3d rotation";
static frc::Pose3d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data, const frc::Pose3d& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::Pose3d>);

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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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Quaternion.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Quaternion> {
static constexpr std::string_view kTypeString = "struct:Quaternion";
static constexpr size_t kSize = 32;
static constexpr std::string_view kSchema =
"double w;double x;double y;double z";
static frc::Quaternion Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::Quaternion& value);
};

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wpimath/src/main/native/include/frc/geometry/struct/Rotation2dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Rotation2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation2d> {
static constexpr std::string_view kTypeString = "struct:Rotation2d";
static constexpr size_t kSize = 8;
static constexpr std::string_view kSchema = "double value";
static frc::Rotation2d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::Rotation2d& value);
};

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wpimath/src/main/native/include/frc/geometry/struct/Rotation3dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Rotation3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Rotation3d> {
static constexpr std::string_view kTypeString = "struct:Rotation3d";
static constexpr size_t kSize = wpi::Struct<frc::Quaternion>::kSize;
static constexpr std::string_view kSchema = "Quaternion q";
static frc::Rotation3d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::Rotation3d& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::Rotation3d>);

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wpimath/src/main/native/include/frc/geometry/struct/Transform2dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Transform2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform2d> {
static constexpr std::string_view kTypeString = "struct:Transform2d";
static constexpr size_t kSize = wpi::Struct<frc::Translation2d>::kSize +
wpi::Struct<frc::Rotation2d>::kSize;
static constexpr std::string_view kSchema =
"Translation2d translation;Rotation2d rotation";
static frc::Transform2d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::Transform2d& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::Transform2d>);

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wpimath/src/main/native/include/frc/geometry/struct/Transform3dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Transform3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Transform3d> {
static constexpr std::string_view kTypeString = "struct:Transform3d";
static constexpr size_t kSize = wpi::Struct<frc::Translation3d>::kSize +
wpi::Struct<frc::Rotation3d>::kSize;
static constexpr std::string_view kSchema =
"Translation3d translation;Rotation3d rotation";
static frc::Transform3d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::Transform3d& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn);
};
static_assert(wpi::HasNestedStruct<frc::Transform3d>);

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wpimath/src/main/native/include/frc/geometry/struct/Translation2dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Translation2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation2d> {
static constexpr std::string_view kTypeString = "struct:Translation2d";
static constexpr size_t kSize = 16;
static constexpr std::string_view kSchema = "double x;double y";
static frc::Translation2d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::Translation2d& value);
};

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wpimath/src/main/native/include/frc/geometry/struct/Translation3dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Translation3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Translation3d> {
static constexpr std::string_view kTypeString = "struct:Translation3d";
static constexpr size_t kSize = 24;
static constexpr std::string_view kSchema = "double x;double y;double z";
static frc::Translation3d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data,
const frc::Translation3d& value);
};

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wpimath/src/main/native/include/frc/geometry/struct/Twist2dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Twist2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist2d> {
static constexpr std::string_view kTypeString = "struct:Twist2d";
static constexpr size_t kSize = 24;
static constexpr std::string_view kSchema =
"double dx;double dy;double dtheta";
static frc::Twist2d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data, const frc::Twist2d& value);
};

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wpimath/src/main/native/include/frc/geometry/struct/Twist3dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Twist3d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Twist3d> {
static constexpr std::string_view kTypeString = "struct:Twist3d";
static constexpr size_t kSize = 48;
static constexpr std::string_view kSchema =
"double dx;double dy;double dz;double rx;double ry;double rz";
static frc::Twist3d Unpack(std::span<const uint8_t, kSize> data);
static void Pack(std::span<uint8_t, kSize> data, const frc::Twist3d& value);
};