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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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30
wpilibc/src/main/native/cpp/trajectory/Trajectory.cpp
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@@ -7,8 +7,20 @@
#include "frc/trajectory/Trajectory.h"
#include <wpi/json.h>
using namespace frc;
bool Trajectory::State::operator==(const Trajectory::State& other) const {
return t == other.t && velocity == other.velocity &&
acceleration == other.acceleration && pose == other.pose &&
curvature == other.curvature;
}
bool Trajectory::State::operator!=(const Trajectory::State& other) const {
return !operator==(other);
}
Trajectory::State Trajectory::State::Interpolate(State endValue,
double i) const {
// Find the new [t] value.
@@ -94,3 +106,21 @@ Trajectory::State Trajectory::Sample(units::second_t t) const {
return prevSample.Interpolate(sample,
(t - prevSample.t) / (sample.t - prevSample.t));
}
void frc::to_json(wpi::json& json, const Trajectory::State& state) {
json = wpi::json{{"time", state.t.to<double>()},
{"velocity", state.velocity.to<double>()},
{"acceleration", state.acceleration.to<double>()},
{"pose", state.pose},
{"curvature", state.curvature.to<double>()}};
}
void frc::from_json(const wpi::json& json, Trajectory::State& state) {
state.pose = json.at("pose").get<Pose2d>();
state.t = units::second_t{json.at("time").get<double>()};
state.velocity =
units::meters_per_second_t{json.at("velocity").get<double>()};
state.acceleration =
units::meters_per_second_squared_t{json.at("acceleration").get<double>()};
state.curvature = frc::curvature_t{json.at("curvature").get<double>()};
}