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https://github.com/wpilibsuite/allwpilib
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28 lines
1.0 KiB
C++
28 lines
1.0 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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#include "wpi/math/kinematics/struct/DifferentialDriveWheelPositionsStruct.hpp"
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namespace {
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constexpr size_t kLeftOff = 0;
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constexpr size_t kRightOff = kLeftOff + 8;
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} // namespace
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using StructType =
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wpi::util::Struct<wpi::math::DifferentialDriveWheelPositions>;
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wpi::math::DifferentialDriveWheelPositions StructType::Unpack(
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std::span<const uint8_t> data) {
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return wpi::math::DifferentialDriveWheelPositions{
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wpi::units::meter_t{wpi::util::UnpackStruct<double, kLeftOff>(data)},
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wpi::units::meter_t{wpi::util::UnpackStruct<double, kRightOff>(data)},
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};
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}
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void StructType::Pack(std::span<uint8_t> data,
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const wpi::math::DifferentialDriveWheelPositions& value) {
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wpi::util::PackStruct<kLeftOff>(data, value.left.value());
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wpi::util::PackStruct<kRightOff>(data, value.right.value());
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}
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