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https://github.com/wpilibsuite/allwpilib
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31 lines
1.1 KiB
C++
31 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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#include "wpi/math/geometry/struct/QuaternionStruct.hpp"
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namespace {
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constexpr size_t kWOff = 0;
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constexpr size_t kXOff = kWOff + 8;
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constexpr size_t kYOff = kXOff + 8;
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constexpr size_t kZOff = kYOff + 8;
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} // namespace
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using StructType = wpi::util::Struct<wpi::math::Quaternion>;
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wpi::math::Quaternion StructType::Unpack(std::span<const uint8_t> data) {
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return wpi::math::Quaternion{
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wpi::util::UnpackStruct<double, kWOff>(data),
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wpi::util::UnpackStruct<double, kXOff>(data),
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wpi::util::UnpackStruct<double, kYOff>(data),
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wpi::util::UnpackStruct<double, kZOff>(data),
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};
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}
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void StructType::Pack(std::span<uint8_t> data, const wpi::math::Quaternion& value) {
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wpi::util::PackStruct<kWOff>(data, value.W());
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wpi::util::PackStruct<kXOff>(data, value.X());
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wpi::util::PackStruct<kYOff>(data, value.Y());
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wpi::util::PackStruct<kZOff>(data, value.Z());
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}
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