extra_includes:
- rpy/geometryToString.h
- wpystruct.h

functions:
  to_json:
    ignore: true
  from_json:
    ignore: true
classes:
  frc::Rotation3d:
    methods:
      Rotation3d:
        overloads:
          '':
          const Quaternion&:
            keepalive: []
          units::radian_t, units::radian_t, units::radian_t:
          const Eigen::Vector3d&, units::radian_t:
            keepalive: []
          const Eigen::Vector3d&:
            keepalive: []
          const Eigen::Matrix3d&:
            keepalive: []
          const Eigen::Vector3d&, const Eigen::Vector3d&:
            keepalive: []
          const Rotation2d&:
            keepalive: []
      operator+:
      operator-:
        overloads:
          const Rotation3d& [const]:
          '[const]':
      operator*:
      operator/:
      operator==:
      RotateBy:
      GetQuaternion:
      X:
      Y:
      Z:
      Axis:
      Angle:
      ToMatrix:
      ToRotation2d:
      ToVector:

inline_code: |
  cls_Rotation3d
    .def_static("fromDegrees", [](units::degree_t roll, units::degree_t pitch, units::degree_t yaw) {
      return std::make_unique<Rotation3d>(roll, pitch, yaw);
    }, py::arg("roll"), py::arg("pitch"), py::arg("yaw"))
    .def_property_readonly("x", &Rotation3d::X)
    .def_property_readonly("y", &Rotation3d::Y)
    .def_property_readonly("z", &Rotation3d::Z)
    .def_property_readonly("angle", &Rotation3d::Angle)
    .def_property_readonly("x_degrees", [](const Rotation3d * self) -> units::degree_t {
      return self->X();
    })
    .def_property_readonly("y_degrees", [](const Rotation3d * self) -> units::degree_t {
      return self->Y();
    })
    .def_property_readonly("z_degrees", [](const Rotation3d * self) -> units::degree_t {
      return self->Z();
    })
    .def_property_readonly("angle_degrees", [](const Rotation3d * self) -> units::degree_t {
      return self->Angle();
    })
    .def("__repr__", py::overload_cast<const Rotation3d&>(&rpy::toString));

  SetupWPyStruct<frc::Rotation3d>(cls_Rotation3d);