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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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33
wpimath/src/main/native/include/frc/geometry/struct/Ellipse2dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Ellipse2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Ellipse2d> {
static constexpr std::string_view GetTypeString() {
return "struct:Ellipse2d";
}
static constexpr size_t GetSize() {
return wpi::GetStructSize<frc::Pose2d>() + 16;
}
static constexpr std::string_view GetSchema() {
return "Pose2d center;double xSemiAxis;double ySemiAxis";
}
static frc::Ellipse2d Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Ellipse2d& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Pose2d>(fn);
}
};
static_assert(wpi::StructSerializable<frc::Ellipse2d>);
static_assert(wpi::HasNestedStruct<frc::Ellipse2d>);

33
wpimath/src/main/native/include/frc/geometry/struct/Rectangle2dStruct.h 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.
#pragma once
#include <wpi/SymbolExports.h>
#include <wpi/struct/Struct.h>
#include "frc/geometry/Rectangle2d.h"
template <>
struct WPILIB_DLLEXPORT wpi::Struct<frc::Rectangle2d> {
static constexpr std::string_view GetTypeString() {
return "struct:Rectangle2d";
}
static constexpr size_t GetSize() {
return wpi::GetStructSize<frc::Pose2d>() + 16;
}
static constexpr std::string_view GetSchema() {
return "Pose2d center;double xWidth;double yWidth";
}
static frc::Rectangle2d Unpack(std::span<const uint8_t> data);
static void Pack(std::span<uint8_t> data, const frc::Rectangle2d& value);
static void ForEachNested(
std::invocable<std::string_view, std::string_view> auto fn) {
wpi::ForEachStructSchema<frc::Pose2d>(fn);
}
};
static_assert(wpi::StructSerializable<frc::Rectangle2d>);
static_assert(wpi::HasNestedStruct<frc::Rectangle2d>);