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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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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"