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Add JSON support for Trajectories (#2025)

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This commit is contained in:
carbotaniuman
2019-11-02 13:35:03 -05:00
committed by Peter Johnson
parent 2b6811eddb
commit ed30d5d40e
23 changed files with 581 additions and 12 deletions
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12
wpilibc/src/main/native/cpp/geometry/Pose2d.cpp
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@@ -9,6 +9,8 @@
#include <cmath>
#include <wpi/json.h>
using namespace frc;
Pose2d::Pose2d(Translation2d translation, Rotation2d rotation)
@@ -96,3 +98,13 @@ Twist2d Pose2d::Log(const Pose2d& end) const {
return {translationPart.X(), translationPart.Y(), units::radian_t(dtheta)};
}
void frc::to_json(wpi::json& json, const Pose2d& pose) {
json = wpi::json{{"translation", pose.Translation()},
{"rotation", pose.Rotation()}};
}
void frc::from_json(const wpi::json& json, Pose2d& pose) {
pose = Pose2d{json.at("translation").get<Translation2d>(),
json.at("rotation").get<Rotation2d>()};
}

10
wpilibc/src/main/native/cpp/geometry/Rotation2d.cpp
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@@ -9,6 +9,8 @@
#include <cmath>
#include <wpi/json.h>
using namespace frc;
Rotation2d::Rotation2d(units::radian_t value)
@@ -68,3 +70,11 @@ Rotation2d Rotation2d::RotateBy(const Rotation2d& other) const {
return {Cos() * other.Cos() - Sin() * other.Sin(),
Cos() * other.Sin() + Sin() * other.Cos()};
}
void frc::to_json(wpi::json& json, const Rotation2d& rotation) {
json = wpi::json{{"radians", rotation.Radians().to<double>()}};
}
void frc::from_json(const wpi::json& json, Rotation2d& rotation) {
rotation = Rotation2d{units::radian_t{json.at("radians").get<double>()}};
}

12
wpilibc/src/main/native/cpp/geometry/Translation2d.cpp
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@@ -7,6 +7,8 @@
#include "frc/geometry/Translation2d.h"
#include <wpi/json.h>
using namespace frc;
Translation2d::Translation2d(units::meter_t x, units::meter_t y)
@@ -73,3 +75,13 @@ Translation2d& Translation2d::operator/=(double scalar) {
*this *= (1.0 / scalar);
return *this;
}
void frc::to_json(wpi::json& json, const Translation2d& translation) {
json = wpi::json{{"x", translation.X().to<double>()},
{"y", translation.Y().to<double>()}};
}
void frc::from_json(const wpi::json& json, Translation2d& translation) {
translation = Translation2d{units::meter_t{json.at("x").get<double>()},
units::meter_t{json.at("y").get<double>()}};
}