[wpiutil, ntcore] Add structured data support (#5391)

This adds support for two serialization formats for complex data types:

- Protobuf for complex objects with variable length internals that need forward and backward wire compatibility (lower speed, more flexible)
- Raw struct (ByteBuffer-style) for fixed-length objects (higher speed, less flexible)

Deserialization can be done either by creating a new object (for immutable objects) or overwriting the contents of an existing object (for mutable objects).

Implementing classes should provide inner classes that implement the Protobuf or Struct interface (in Java) or specialize the wpi::Protobuf or wpi::Struct struct (in C++). It is possible for classes to implement both. If the class itself does not implement serialization, it's possible for third parties/users to provide an implementation instead.

Uses the Google protobuf implementation for C++ and the QuickBuffers alternative protobuf implementation for Java.

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -9,10 +9,15 @@ import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.interpolation.Interpolatable;
+import edu.wpi.first.math.proto.Geometry2D.ProtobufPose2d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Collections;
 import java.util.Comparator;
 import java.util.List;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** Represents a 2D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
@@ -305,4 +310,83 @@ public class Pose2d implements Interpolatable<Pose2d> {
       return this.exp(scaledTwist);
     }
   }
+
+  public static final class AStruct implements Struct<Pose2d> {
+    @Override
+    public Class<Pose2d> getTypeClass() {
+      return Pose2d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Pose2d";
+    }
+
+    @Override
+    public int getSize() {
+      return Translation2d.struct.getSize() + Rotation2d.struct.getSize();
+    }
+
+    @Override
+    public String getSchema() {
+      return "Translation2d translation;Rotation2d rotation";
+    }
+
+    @Override
+    public Struct<?>[] getNested() {
+      return new Struct<?>[] {Translation2d.struct, Rotation2d.struct};
+    }
+
+    @Override
+    public Pose2d unpack(ByteBuffer bb) {
+      Translation2d translation = Translation2d.struct.unpack(bb);
+      Rotation2d rotation = Rotation2d.struct.unpack(bb);
+      return new Pose2d(translation, rotation);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Pose2d value) {
+      Translation2d.struct.pack(bb, value.m_translation);
+      Rotation2d.struct.pack(bb, value.m_rotation);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Pose2d, ProtobufPose2d> {
+    @Override
+    public Class<Pose2d> getTypeClass() {
+      return Pose2d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufPose2d.getDescriptor();
+    }
+
+    @Override
+    public Protobuf<?, ?>[] getNested() {
+      return new Protobuf<?, ?>[] {Translation2d.proto, Rotation2d.proto};
+    }
+
+    @Override
+    public ProtobufPose2d createMessage() {
+      return ProtobufPose2d.newInstance();
+    }
+
+    @Override
+    public Pose2d unpack(ProtobufPose2d msg) {
+      return new Pose2d(
+          Translation2d.proto.unpack(msg.getTranslation()),
+          Rotation2d.proto.unpack(msg.getRotation()));
+    }
+
+    @Override
+    public void pack(ProtobufPose2d msg, Pose2d value) {
+      Translation2d.proto.pack(msg.getMutableTranslation(), value.m_translation);
+      Rotation2d.proto.pack(msg.getMutableRotation(), value.m_rotation);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -10,7 +10,12 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.WPIMathJNI;
 import edu.wpi.first.math.interpolation.Interpolatable;
+import edu.wpi.first.math.proto.Geometry3D.ProtobufPose3d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** Represents a 3D pose containing translational and rotational elements. */
 @JsonIgnoreProperties(ignoreUnknown = true)
@@ -318,4 +323,83 @@ public class Pose3d implements Interpolatable<Pose3d> {
       return this.exp(scaledTwist);
     }
   }
+
+  public static final class AStruct implements Struct<Pose3d> {
+    @Override
+    public Class<Pose3d> getTypeClass() {
+      return Pose3d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Pose3d";
+    }
+
+    @Override
+    public int getSize() {
+      return Translation3d.struct.getSize() + Rotation3d.struct.getSize();
+    }
+
+    @Override
+    public String getSchema() {
+      return "Translation3d translation;Rotation3d rotation";
+    }
+
+    @Override
+    public Struct<?>[] getNested() {
+      return new Struct<?>[] {Translation3d.struct, Rotation3d.struct};
+    }
+
+    @Override
+    public Pose3d unpack(ByteBuffer bb) {
+      Translation3d translation = Translation3d.struct.unpack(bb);
+      Rotation3d rotation = Rotation3d.struct.unpack(bb);
+      return new Pose3d(translation, rotation);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Pose3d value) {
+      Translation3d.struct.pack(bb, value.m_translation);
+      Rotation3d.struct.pack(bb, value.m_rotation);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Pose3d, ProtobufPose3d> {
+    @Override
+    public Class<Pose3d> getTypeClass() {
+      return Pose3d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufPose3d.getDescriptor();
+    }
+
+    @Override
+    public Protobuf<?, ?>[] getNested() {
+      return new Protobuf<?, ?>[] {Translation3d.proto, Rotation3d.proto};
+    }
+
+    @Override
+    public ProtobufPose3d createMessage() {
+      return ProtobufPose3d.newInstance();
+    }
+
+    @Override
+    public Pose3d unpack(ProtobufPose3d msg) {
+      return new Pose3d(
+          Translation3d.proto.unpack(msg.getTranslation()),
+          Rotation3d.proto.unpack(msg.getRotation()));
+    }
+
+    @Override
+    public void pack(ProtobufPose3d msg, Pose3d value) {
+      Translation3d.proto.pack(msg.getMutableTranslation(), value.m_translation);
+      Rotation3d.proto.pack(msg.getMutableRotation(), value.m_rotation);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java

@@ -11,7 +11,12 @@ import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.Vector;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.proto.Geometry3D.ProtobufQuaternion;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 @JsonIgnoreProperties(ignoreUnknown = true)
 @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
@@ -400,4 +405,74 @@ public class Quaternion {
 
     return VecBuilder.fill(coeff * getX(), coeff * getY(), coeff * getZ());
   }
+
+  public static final class AStruct implements Struct<Quaternion> {
+    @Override
+    public Class<Quaternion> getTypeClass() {
+      return Quaternion.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Quaternion";
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeDouble * 4;
+    }
+
+    @Override
+    public String getSchema() {
+      return "double w;double x;double y;double z";
+    }
+
+    @Override
+    public Quaternion unpack(ByteBuffer bb) {
+      double w = bb.getDouble();
+      double x = bb.getDouble();
+      double y = bb.getDouble();
+      double z = bb.getDouble();
+      return new Quaternion(w, x, y, z);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Quaternion value) {
+      bb.putDouble(value.getW());
+      bb.putDouble(value.getX());
+      bb.putDouble(value.getY());
+      bb.putDouble(value.getZ());
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Quaternion, ProtobufQuaternion> {
+    @Override
+    public Class<Quaternion> getTypeClass() {
+      return Quaternion.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufQuaternion.getDescriptor();
+    }
+
+    @Override
+    public ProtobufQuaternion createMessage() {
+      return ProtobufQuaternion.newInstance();
+    }
+
+    @Override
+    public Quaternion unpack(ProtobufQuaternion msg) {
+      return new Quaternion(msg.getW(), msg.getX(), msg.getY(), msg.getZ());
+    }
+
+    @Override
+    public void pack(ProtobufQuaternion msg, Quaternion value) {
+      msg.setW(value.getW()).setX(value.getX()).setY(value.getY()).setZ(value.getZ());
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java

@@ -10,8 +10,13 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.interpolation.Interpolatable;
+import edu.wpi.first.math.proto.Geometry2D.ProtobufRotation2d;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /**
  * A rotation in a 2D coordinate frame represented by a point on the unit circle (cosine and sine).
@@ -256,4 +261,67 @@ public class Rotation2d implements Interpolatable<Rotation2d> {
   public Rotation2d interpolate(Rotation2d endValue, double t) {
     return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
   }
+
+  public static final class AStruct implements Struct<Rotation2d> {
+    @Override
+    public Class<Rotation2d> getTypeClass() {
+      return Rotation2d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Rotation2d";
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeDouble;
+    }
+
+    @Override
+    public String getSchema() {
+      return "double value";
+    }
+
+    @Override
+    public Rotation2d unpack(ByteBuffer bb) {
+      return new Rotation2d(bb.getDouble());
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Rotation2d value) {
+      bb.putDouble(value.m_value);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Rotation2d, ProtobufRotation2d> {
+    @Override
+    public Class<Rotation2d> getTypeClass() {
+      return Rotation2d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufRotation2d.getDescriptor();
+    }
+
+    @Override
+    public ProtobufRotation2d createMessage() {
+      return ProtobufRotation2d.newInstance();
+    }
+
+    @Override
+    public Rotation2d unpack(ProtobufRotation2d msg) {
+      return new Rotation2d(msg.getValue());
+    }
+
+    @Override
+    public void pack(ProtobufRotation2d msg, Rotation2d value) {
+      msg.setValue(value.m_value);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java

@@ -17,8 +17,13 @@ import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.Vector;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.proto.Geometry3D.ProtobufRotation3d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
 import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** A rotation in a 3D coordinate frame represented by a quaternion. */
 @JsonIgnoreProperties(ignoreUnknown = true)
@@ -434,4 +439,77 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
   public Rotation3d interpolate(Rotation3d endValue, double t) {
     return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
   }
+
+  public static final class AStruct implements Struct<Rotation3d> {
+    @Override
+    public Class<Rotation3d> getTypeClass() {
+      return Rotation3d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Rotation3d";
+    }
+
+    @Override
+    public int getSize() {
+      return Quaternion.struct.getSize();
+    }
+
+    @Override
+    public String getSchema() {
+      return "Quaternion q";
+    }
+
+    @Override
+    public Struct<?>[] getNested() {
+      return new Struct<?>[] {Quaternion.struct};
+    }
+
+    @Override
+    public Rotation3d unpack(ByteBuffer bb) {
+      return new Rotation3d(Quaternion.struct.unpack(bb));
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Rotation3d value) {
+      Quaternion.struct.pack(bb, value.m_q);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Rotation3d, ProtobufRotation3d> {
+    @Override
+    public Class<Rotation3d> getTypeClass() {
+      return Rotation3d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufRotation3d.getDescriptor();
+    }
+
+    @Override
+    public Protobuf<?, ?>[] getNested() {
+      return new Protobuf<?, ?>[] {Quaternion.proto};
+    }
+
+    @Override
+    public ProtobufRotation3d createMessage() {
+      return ProtobufRotation3d.newInstance();
+    }
+
+    @Override
+    public Rotation3d unpack(ProtobufRotation3d msg) {
+      return new Rotation3d(Quaternion.proto.unpack(msg.getQ()));
+    }
+
+    @Override
+    public void pack(ProtobufRotation3d msg, Rotation3d value) {
+      Quaternion.proto.pack(msg.getMutableQ(), value.m_q);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java

@@ -4,7 +4,12 @@
 
 package edu.wpi.first.math.geometry;
 
+import edu.wpi.first.math.proto.Geometry2D.ProtobufTransform2d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** Represents a transformation for a Pose2d in the pose's frame. */
 public class Transform2d {
@@ -163,4 +168,83 @@ public class Transform2d {
   public int hashCode() {
     return Objects.hash(m_translation, m_rotation);
   }
+
+  public static final class AStruct implements Struct<Transform2d> {
+    @Override
+    public Class<Transform2d> getTypeClass() {
+      return Transform2d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Transform2d";
+    }
+
+    @Override
+    public int getSize() {
+      return Translation2d.struct.getSize() + Rotation2d.struct.getSize();
+    }
+
+    @Override
+    public String getSchema() {
+      return "Translation2d translation;Rotation2d rotation";
+    }
+
+    @Override
+    public Struct<?>[] getNested() {
+      return new Struct<?>[] {Translation2d.struct, Rotation2d.struct};
+    }
+
+    @Override
+    public Transform2d unpack(ByteBuffer bb) {
+      Translation2d translation = Translation2d.struct.unpack(bb);
+      Rotation2d rotation = Rotation2d.struct.unpack(bb);
+      return new Transform2d(translation, rotation);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Transform2d value) {
+      Translation2d.struct.pack(bb, value.m_translation);
+      Rotation2d.struct.pack(bb, value.m_rotation);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Transform2d, ProtobufTransform2d> {
+    @Override
+    public Class<Transform2d> getTypeClass() {
+      return Transform2d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufTransform2d.getDescriptor();
+    }
+
+    @Override
+    public Protobuf<?, ?>[] getNested() {
+      return new Protobuf<?, ?>[] {Translation2d.proto, Rotation2d.proto};
+    }
+
+    @Override
+    public ProtobufTransform2d createMessage() {
+      return ProtobufTransform2d.newInstance();
+    }
+
+    @Override
+    public Transform2d unpack(ProtobufTransform2d msg) {
+      return new Transform2d(
+          Translation2d.proto.unpack(msg.getTranslation()),
+          Rotation2d.proto.unpack(msg.getRotation()));
+    }
+
+    @Override
+    public void pack(ProtobufTransform2d msg, Transform2d value) {
+      Translation2d.proto.pack(msg.getMutableTranslation(), value.m_translation);
+      Rotation2d.proto.pack(msg.getMutableRotation(), value.m_rotation);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java

@@ -4,7 +4,12 @@
 
 package edu.wpi.first.math.geometry;
 
+import edu.wpi.first.math.proto.Geometry3D.ProtobufTransform3d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /** Represents a transformation for a Pose3d in the pose's frame. */
 public class Transform3d {
@@ -173,4 +178,83 @@ public class Transform3d {
   public int hashCode() {
     return Objects.hash(m_translation, m_rotation);
   }
+
+  public static final class AStruct implements Struct<Transform3d> {
+    @Override
+    public Class<Transform3d> getTypeClass() {
+      return Transform3d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Transform3d";
+    }
+
+    @Override
+    public int getSize() {
+      return Translation3d.struct.getSize() + Rotation3d.struct.getSize();
+    }
+
+    @Override
+    public String getSchema() {
+      return "Translation3d translation;Rotation3d rotation";
+    }
+
+    @Override
+    public Struct<?>[] getNested() {
+      return new Struct<?>[] {Translation3d.struct, Rotation3d.struct};
+    }
+
+    @Override
+    public Transform3d unpack(ByteBuffer bb) {
+      Translation3d translation = Translation3d.struct.unpack(bb);
+      Rotation3d rotation = Rotation3d.struct.unpack(bb);
+      return new Transform3d(translation, rotation);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Transform3d value) {
+      Translation3d.struct.pack(bb, value.m_translation);
+      Rotation3d.struct.pack(bb, value.m_rotation);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Transform3d, ProtobufTransform3d> {
+    @Override
+    public Class<Transform3d> getTypeClass() {
+      return Transform3d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufTransform3d.getDescriptor();
+    }
+
+    @Override
+    public Protobuf<?, ?>[] getNested() {
+      return new Protobuf<?, ?>[] {Translation3d.proto, Rotation3d.proto};
+    }
+
+    @Override
+    public ProtobufTransform3d createMessage() {
+      return ProtobufTransform3d.newInstance();
+    }
+
+    @Override
+    public Transform3d unpack(ProtobufTransform3d msg) {
+      return new Transform3d(
+          Translation3d.proto.unpack(msg.getTranslation()),
+          Rotation3d.proto.unpack(msg.getRotation()));
+    }
+
+    @Override
+    public void pack(ProtobufTransform3d msg, Transform3d value) {
+      Translation3d.proto.pack(msg.getMutableTranslation(), value.m_translation);
+      Rotation3d.proto.pack(msg.getMutableRotation(), value.m_rotation);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java

@@ -10,10 +10,15 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.interpolation.Interpolatable;
+import edu.wpi.first.math.proto.Geometry2D.ProtobufTranslation2d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Collections;
 import java.util.Comparator;
 import java.util.List;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /**
  * Represents a translation in 2D space. This object can be used to represent a point or a vector.
@@ -229,4 +234,70 @@ public class Translation2d implements Interpolatable<Translation2d> {
         MathUtil.interpolate(this.getX(), endValue.getX(), t),
         MathUtil.interpolate(this.getY(), endValue.getY(), t));
   }
+
+  public static final class AStruct implements Struct<Translation2d> {
+    @Override
+    public Class<Translation2d> getTypeClass() {
+      return Translation2d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Translation2d";
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeDouble * 2;
+    }
+
+    @Override
+    public String getSchema() {
+      return "double x;double y";
+    }
+
+    @Override
+    public Translation2d unpack(ByteBuffer bb) {
+      double x = bb.getDouble();
+      double y = bb.getDouble();
+      return new Translation2d(x, y);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Translation2d value) {
+      bb.putDouble(value.m_x);
+      bb.putDouble(value.m_y);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Translation2d, ProtobufTranslation2d> {
+    @Override
+    public Class<Translation2d> getTypeClass() {
+      return Translation2d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufTranslation2d.getDescriptor();
+    }
+
+    @Override
+    public ProtobufTranslation2d createMessage() {
+      return ProtobufTranslation2d.newInstance();
+    }
+
+    @Override
+    public Translation2d unpack(ProtobufTranslation2d msg) {
+      return new Translation2d(msg.getX(), msg.getY());
+    }
+
+    @Override
+    public void pack(ProtobufTranslation2d msg, Translation2d value) {
+      msg.setX(value.m_x).setY(value.m_y);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java

@@ -10,7 +10,12 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.interpolation.Interpolatable;
+import edu.wpi.first.math.proto.Geometry3D.ProtobufTranslation3d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /**
  * Represents a translation in 3D space. This object can be used to represent a point or a vector.
@@ -231,4 +236,72 @@ public class Translation3d implements Interpolatable<Translation3d> {
         MathUtil.interpolate(this.getY(), endValue.getY(), t),
         MathUtil.interpolate(this.getZ(), endValue.getZ(), t));
   }
+
+  public static final class AStruct implements Struct<Translation3d> {
+    @Override
+    public Class<Translation3d> getTypeClass() {
+      return Translation3d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Translation3d";
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeDouble * 3;
+    }
+
+    @Override
+    public String getSchema() {
+      return "double x;double y;double z";
+    }
+
+    @Override
+    public Translation3d unpack(ByteBuffer bb) {
+      double x = bb.getDouble();
+      double y = bb.getDouble();
+      double z = bb.getDouble();
+      return new Translation3d(x, y, z);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Translation3d value) {
+      bb.putDouble(value.m_x);
+      bb.putDouble(value.m_y);
+      bb.putDouble(value.m_z);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Translation3d, ProtobufTranslation3d> {
+    @Override
+    public Class<Translation3d> getTypeClass() {
+      return Translation3d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufTranslation3d.getDescriptor();
+    }
+
+    @Override
+    public ProtobufTranslation3d createMessage() {
+      return ProtobufTranslation3d.newInstance();
+    }
+
+    @Override
+    public Translation3d unpack(ProtobufTranslation3d msg) {
+      return new Translation3d(msg.getX(), msg.getY(), msg.getZ());
+    }
+
+    @Override
+    public void pack(ProtobufTranslation3d msg, Translation3d value) {
+      msg.setX(value.m_x).setY(value.m_y).setZ(value.m_z);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java

@@ -4,7 +4,12 @@
 
 package edu.wpi.first.math.geometry;
 
+import edu.wpi.first.math.proto.Geometry2D.ProtobufTwist2d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /**
  * A change in distance along a 2D arc since the last pose update. We can use ideas from
@@ -62,4 +67,72 @@ public class Twist2d {
   public int hashCode() {
     return Objects.hash(dx, dy, dtheta);
   }
+
+  public static final class AStruct implements Struct<Twist2d> {
+    @Override
+    public Class<Twist2d> getTypeClass() {
+      return Twist2d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Twist2d";
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeDouble * 3;
+    }
+
+    @Override
+    public String getSchema() {
+      return "double dx;double dy;double dtheta";
+    }
+
+    @Override
+    public Twist2d unpack(ByteBuffer bb) {
+      double dx = bb.getDouble();
+      double dy = bb.getDouble();
+      double dtheta = bb.getDouble();
+      return new Twist2d(dx, dy, dtheta);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Twist2d value) {
+      bb.putDouble(value.dx);
+      bb.putDouble(value.dy);
+      bb.putDouble(value.dtheta);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Twist2d, ProtobufTwist2d> {
+    @Override
+    public Class<Twist2d> getTypeClass() {
+      return Twist2d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufTwist2d.getDescriptor();
+    }
+
+    @Override
+    public ProtobufTwist2d createMessage() {
+      return ProtobufTwist2d.newInstance();
+    }
+
+    @Override
+    public Twist2d unpack(ProtobufTwist2d msg) {
+      return new Twist2d(msg.getDx(), msg.getDy(), msg.getDtheta());
+    }
+
+    @Override
+    public void pack(ProtobufTwist2d msg, Twist2d value) {
+      msg.setDx(value.dx).setDy(value.dy).setDtheta(value.dtheta);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }

wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java

@@ -4,7 +4,12 @@
 
 package edu.wpi.first.math.geometry;
 
+import edu.wpi.first.math.proto.Geometry3D.ProtobufTwist3d;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.ByteBuffer;
 import java.util.Objects;
+import us.hebi.quickbuf.Descriptors.Descriptor;
 
 /**
  * A change in distance along a 3D arc since the last pose update. We can use ideas from
@@ -82,4 +87,84 @@ public class Twist3d {
   public int hashCode() {
     return Objects.hash(dx, dy, dz, rx, ry, rz);
   }
+
+  public static final class AStruct implements Struct<Twist3d> {
+    @Override
+    public Class<Twist3d> getTypeClass() {
+      return Twist3d.class;
+    }
+
+    @Override
+    public String getTypeString() {
+      return "struct:Twist3d";
+    }
+
+    @Override
+    public int getSize() {
+      return kSizeDouble * 6;
+    }
+
+    @Override
+    public String getSchema() {
+      return "double dx;double dy;double dz;double rx;double ry;double rz";
+    }
+
+    @Override
+    public Twist3d unpack(ByteBuffer bb) {
+      double dx = bb.getDouble();
+      double dy = bb.getDouble();
+      double dz = bb.getDouble();
+      double rx = bb.getDouble();
+      double ry = bb.getDouble();
+      double rz = bb.getDouble();
+      return new Twist3d(dx, dy, dz, rx, ry, rz);
+    }
+
+    @Override
+    public void pack(ByteBuffer bb, Twist3d value) {
+      bb.putDouble(value.dx);
+      bb.putDouble(value.dy);
+      bb.putDouble(value.dz);
+      bb.putDouble(value.rx);
+      bb.putDouble(value.ry);
+      bb.putDouble(value.rz);
+    }
+  }
+
+  public static final AStruct struct = new AStruct();
+
+  public static final class AProto implements Protobuf<Twist3d, ProtobufTwist3d> {
+    @Override
+    public Class<Twist3d> getTypeClass() {
+      return Twist3d.class;
+    }
+
+    @Override
+    public Descriptor getDescriptor() {
+      return ProtobufTwist3d.getDescriptor();
+    }
+
+    @Override
+    public ProtobufTwist3d createMessage() {
+      return ProtobufTwist3d.newInstance();
+    }
+
+    @Override
+    public Twist3d unpack(ProtobufTwist3d msg) {
+      return new Twist3d(
+          msg.getDx(), msg.getDy(), msg.getDz(), msg.getRx(), msg.getRy(), msg.getRz());
+    }
+
+    @Override
+    public void pack(ProtobufTwist3d msg, Twist3d value) {
+      msg.setDx(value.dx)
+          .setDy(value.dy)
+          .setDz(value.dz)
+          .setRx(value.rx)
+          .setRy(value.ry)
+          .setRz(value.rz);
+    }
+  }
+
+  public static final AProto proto = new AProto();
 }