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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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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"