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https://github.com/wpilibsuite/allwpilib
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34 lines
1.1 KiB
C++
34 lines
1.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <wpi/SymbolExports.h>
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#include <wpi/struct/Struct.h>
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#include "frc/geometry/Pose3d.h"
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template <>
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struct WPILIB_DLLEXPORT wpi::Struct<frc::Pose3d> {
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static constexpr std::string_view GetTypeString() { return "struct:Pose3d"; }
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static constexpr size_t GetSize() {
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return wpi::GetStructSize<frc::Translation3d>() +
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wpi::GetStructSize<frc::Rotation3d>();
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}
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static constexpr std::string_view GetSchema() {
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return "Translation3d translation;Rotation3d rotation";
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}
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static frc::Pose3d Unpack(std::span<const uint8_t> data);
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static void Pack(std::span<uint8_t> data, const frc::Pose3d& value);
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static void ForEachNested(
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std::invocable<std::string_view, std::string_view> auto fn) {
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wpi::ForEachStructSchema<frc::Translation3d>(fn);
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wpi::ForEachStructSchema<frc::Rotation3d>(fn);
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}
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};
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static_assert(wpi::StructSerializable<frc::Pose3d>);
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static_assert(wpi::HasNestedStruct<frc::Pose3d>);
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