001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.math.trajectory.struct;
006
007import edu.wpi.first.math.trajectory.ExponentialProfile;
008import edu.wpi.first.util.struct.Struct;
009import java.nio.ByteBuffer;
010
011public class ExponentialProfileStateStruct implements Struct<ExponentialProfile.State> {
012  @Override
013  public Class<ExponentialProfile.State> getTypeClass() {
014    return ExponentialProfile.State.class;
015  }
016
017  @Override
018  public String getTypeName() {
019    return "ExponentialProfileState";
020  }
021
022  @Override
023  public int getSize() {
024    return kSizeDouble * 2;
025  }
026
027  @Override
028  public String getSchema() {
029    return "double position;double velocity";
030  }
031
032  @Override
033  public ExponentialProfile.State unpack(ByteBuffer bb) {
034    return new ExponentialProfile.State(bb.getDouble(), bb.getDouble());
035  }
036
037  @Override
038  public void pack(ByteBuffer bb, ExponentialProfile.State value) {
039    bb.putDouble(value.position);
040    bb.putDouble(value.velocity);
041  }
042}