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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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27
wpimath/src/main/native/cpp/geometry/struct/Ellipse2dStruct.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/struct/Ellipse2dStruct.h"
namespace {
constexpr size_t kCenterOff = 0;
constexpr size_t kXSemiAxisOff = kCenterOff + wpi::GetStructSize<frc::Pose2d>();
constexpr size_t kYSemiAxisOff = kXSemiAxisOff + 8;
} // namespace
using StructType = wpi::Struct<frc::Ellipse2d>;
frc::Ellipse2d StructType::Unpack(std::span<const uint8_t> data) {
return frc::Ellipse2d{
wpi::UnpackStruct<frc::Pose2d, kCenterOff>(data),
units::meter_t{wpi::UnpackStruct<double, kXSemiAxisOff>(data)},
units::meter_t{wpi::UnpackStruct<double, kYSemiAxisOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t> data, const frc::Ellipse2d& value) {
wpi::PackStruct<kCenterOff>(data, value.Center());
wpi::PackStruct<kXSemiAxisOff>(data, value.XSemiAxis().value());
wpi::PackStruct<kYSemiAxisOff>(data, value.YSemiAxis().value());
}

27
wpimath/src/main/native/cpp/geometry/struct/Rectangle2dStruct.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/struct/Rectangle2dStruct.h"
namespace {
constexpr size_t kCenterOff = 0;
constexpr size_t kXWidthOff = kCenterOff + wpi::GetStructSize<frc::Pose2d>();
constexpr size_t kYWidthOff = kXWidthOff + 8;
} // namespace
using StructType = wpi::Struct<frc::Rectangle2d>;
frc::Rectangle2d StructType::Unpack(std::span<const uint8_t> data) {
return frc::Rectangle2d{
wpi::UnpackStruct<frc::Pose2d, kCenterOff>(data),
units::meter_t{wpi::UnpackStruct<double, kXWidthOff>(data)},
units::meter_t{wpi::UnpackStruct<double, kYWidthOff>(data)},
};
}
void StructType::Pack(std::span<uint8_t> data, const frc::Rectangle2d& value) {
wpi::PackStruct<kCenterOff>(data, value.Center());
wpi::PackStruct<kXWidthOff>(data, value.XWidth().value());
wpi::PackStruct<kYWidthOff>(data, value.YWidth().value());
}