Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Move struct/proto classes to separate files (#5918)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

39
wpimath/src/main/native/include/frc/geometry/Transform3d.h
View File

@@ -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"