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[wpimath] Add geometry classes for Rectangle2d and Ellipse2d (#6555)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Brendan Raykoff
2024-06-04 21:27:32 -04:00
committed by GitHub
parent afaf7e2c3f
commit 8def7b2222
41 changed files with 3042 additions and 26 deletions
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31
wpimath/src/main/native/cpp/geometry/proto/Ellipse2dProto.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/geometry/proto/Ellipse2dProto.h"
#include "geometry2d.pb.h"
google::protobuf::Message* wpi::Protobuf<frc::Ellipse2d>::New(
google::protobuf::Arena* arena) {
return google::protobuf::Arena::CreateMessage<wpi::proto::ProtobufEllipse2d>(
arena);
}
frc::Ellipse2d wpi::Protobuf<frc::Ellipse2d>::Unpack(
const google::protobuf::Message& msg) {
auto m = static_cast<const wpi::proto::ProtobufEllipse2d*>(&msg);
return frc::Ellipse2d{
wpi::UnpackProtobuf<frc::Pose2d>(m->center()),
units::meter_t{m->xsemiaxis()},
units::meter_t{m->ysemiaxis()},
};
}
void wpi::Protobuf<frc::Ellipse2d>::Pack(google::protobuf::Message* msg,
const frc::Ellipse2d& value) {
auto m = static_cast<wpi::proto::ProtobufEllipse2d*>(msg);
wpi::PackProtobuf(m->mutable_center(), value.Center());
m->set_xsemiaxis(value.XSemiAxis().value());
m->set_ysemiaxis(value.YSemiAxis().value());
}