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https://github.com/wpilibsuite/allwpilib
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a583ca01e1
This required changing the constant values (e.g. kSize) into functions (e.g. GetSize()). Fixed implementations of ForEachNested to be inline (as these are actually templates). Also added a ntcore Struct test.
26 lines
877 B
C++
26 lines
877 B
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 "frc/geometry/struct/Pose2dStruct.h"
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namespace {
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constexpr size_t kTranslationOff = 0;
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constexpr size_t kRotationOff =
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kTranslationOff + wpi::GetStructSize<frc::Translation2d>();
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} // namespace
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using StructType = wpi::Struct<frc::Pose2d>;
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frc::Pose2d StructType::Unpack(std::span<const uint8_t> data) {
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return frc::Pose2d{
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wpi::UnpackStruct<frc::Translation2d, kTranslationOff>(data),
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wpi::UnpackStruct<frc::Rotation2d, kRotationOff>(data),
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};
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}
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void StructType::Pack(std::span<uint8_t> data, const frc::Pose2d& value) {
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wpi::PackStruct<kTranslationOff>(data, value.Translation());
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wpi::PackStruct<kRotationOff>(data, value.Rotation());
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}
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