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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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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"