mirror of
https://github.com/wpilibsuite/allwpilib
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ee281ea448
Splitting the files didn't help readability or save compilation time and it confused contributors. Merging them is also in line with how C++ modules will be written.
49 lines
1.7 KiB
C++
49 lines
1.7 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 <fmt/format.h>
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#include <wpi/ct_string.h>
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#include <wpi/struct/Struct.h>
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#include "frc/EigenCore.h"
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template <int Size, int Options, int MaxRows, int MaxCols>
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struct wpi::Struct<frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>> {
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static constexpr ct_string kTypeName =
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wpi::Concat("Vector__"_ct_string, wpi::NumToCtString<Size>());
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static constexpr std::string_view GetTypeName() { return kTypeName; }
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static constexpr size_t GetSize() { return Size * 8; }
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static constexpr ct_string kSchema = wpi::Concat(
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"double data["_ct_string, wpi::NumToCtString<Size>(), "]"_ct_string);
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static constexpr std::string_view GetSchema() { return kSchema; }
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static frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> Unpack(
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std::span<const uint8_t> data) {
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constexpr size_t kDataOff = 0;
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wpi::array<double, Size> vec_data =
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wpi::UnpackStructArray<double, kDataOff, Size>(data);
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frc::Matrixd<Size, 1, Options, MaxRows, MaxCols> vec;
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for (int i = 0; i < Size; i++) {
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vec(i) = vec_data[i];
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}
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return vec;
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}
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static void Pack(
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std::span<uint8_t> data,
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const frc::Matrixd<Size, 1, Options, MaxRows, MaxCols>& value) {
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constexpr size_t kDataOff = 0;
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wpi::array<double, Size> vec_data(wpi::empty_array);
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for (int i = 0; i < Size; i++) {
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vec_data[i] = value(i);
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}
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wpi::PackStructArray<kDataOff, Size>(data, vec_data);
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}
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};
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static_assert(wpi::StructSerializable<frc::Vectord<1>>);
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static_assert(wpi::StructSerializable<frc::Vectord<3>>);
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