mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
29 lines
1003 B
C++
29 lines
1003 B
C++
// 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.
|
|
|
|
#include "frc/geometry/struct/Translation3dStruct.h"
|
|
|
|
namespace {
|
|
constexpr size_t kXOff = 0;
|
|
constexpr size_t kYOff = kXOff + 8;
|
|
constexpr size_t kZOff = kYOff + 8;
|
|
} // namespace
|
|
|
|
using StructType = wpi::Struct<frc::Translation3d>;
|
|
|
|
frc::Translation3d StructType::Unpack(std::span<const uint8_t, kSize> data) {
|
|
return frc::Translation3d{
|
|
units::meter_t{wpi::UnpackStruct<double, kXOff>(data)},
|
|
units::meter_t{wpi::UnpackStruct<double, kYOff>(data)},
|
|
units::meter_t{wpi::UnpackStruct<double, kZOff>(data)},
|
|
};
|
|
}
|
|
|
|
void StructType::Pack(std::span<uint8_t, kSize> data,
|
|
const frc::Translation3d& value) {
|
|
wpi::PackStruct<kXOff>(data, value.X().value());
|
|
wpi::PackStruct<kYOff>(data, value.Y().value());
|
|
wpi::PackStruct<kZOff>(data, value.Z().value());
|
|
}
|