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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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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"