QuaternionStruct.hpp

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// 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.
 
#pragma once
 
#include "wpi/math/geometry/Quaternion.hpp"
#include "wpi/util/SymbolExports.hpp"
#include "wpi/util/struct/Struct.hpp"
 
template <>
struct WPILIB_DLLEXPORT wpi::util::Struct<wpi::math::Quaternion> {
  static constexpr std::string_view GetTypeName() { return "Quaternion"; }
  static constexpr size_t GetSize() { return 32; }
  static constexpr std::string_view GetSchema() {
    return "double w;double x;double y;double z";
  }
 
  static wpi::math::Quaternion Unpack(std::span<const uint8_t> data);
  static void Pack(std::span<uint8_t> data, const wpi::math::Quaternion& value);
};
 
static_assert(wpi::util::StructSerializable<wpi::math::Quaternion>);