[wpimath] Add structs for TrapezoidProfile.State and ExponentialProfile.State (#8163)

wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/ExponentialProfileStateStructTest.java

@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.math.trajectory.struct;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.trajectory.ExponentialProfile;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import org.junit.jupiter.api.Test;
+
+class ExponentialProfileStateStructTest {
+  private static final ExponentialProfile.State STATE = new ExponentialProfile.State(4.0, 5.0);
+
+  @Test
+  void testRoundtrip() {
+    ByteBuffer buffer = ByteBuffer.allocate(ExponentialProfile.State.struct.getSize());
+    buffer.order(ByteOrder.LITTLE_ENDIAN);
+    ExponentialProfile.State.struct.pack(buffer, STATE);
+    buffer.rewind();
+    assertEquals(STATE, ExponentialProfile.State.struct.unpack(buffer));
+  }
+}

wpimath/src/test/java/edu/wpi/first/math/trajectory/struct/TrapezoidProfileStateStructTest.java

@@ -0,0 +1,25 @@
+// 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.
+
+package edu.wpi.first.math.trajectory.struct;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import org.junit.jupiter.api.Test;
+
+class TrapezoidProfileStateStructTest {
+  private static final TrapezoidProfile.State STATE = new TrapezoidProfile.State(4.0, 5.0);
+
+  @Test
+  void testRoundtrip() {
+    ByteBuffer buffer = ByteBuffer.allocate(TrapezoidProfile.State.struct.getSize());
+    buffer.order(ByteOrder.LITTLE_ENDIAN);
+    TrapezoidProfile.State.struct.pack(buffer, STATE);
+    buffer.rewind();
+    assertEquals(STATE, TrapezoidProfile.State.struct.unpack(buffer));
+  }
+}