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 org.wpilib.math.kinematics.struct;
006
007import java.nio.ByteBuffer;
008import org.wpilib.math.kinematics.ChassisVelocities;
009import org.wpilib.util.struct.Struct;
010
011public class ChassisVelocitiesStruct implements Struct<ChassisVelocities> {
012  @Override
013  public Class<ChassisVelocities> getTypeClass() {
014    return ChassisVelocities.class;
015  }
016
017  @Override
018  public String getTypeName() {
019    return "ChassisVelocities";
020  }
021
022  @Override
023  public int getSize() {
024    return kSizeDouble * 3;
025  }
026
027  @Override
028  public String getSchema() {
029    return "double vx;double vy;double omega";
030  }
031
032  @Override
033  public ChassisVelocities unpack(ByteBuffer bb) {
034    double vx = bb.getDouble();
035    double vy = bb.getDouble();
036    double omega = bb.getDouble();
037    return new ChassisVelocities(vx, vy, omega);
038  }
039
040  @Override
041  public void pack(ByteBuffer bb, ChassisVelocities value) {
042    bb.putDouble(value.vx);
043    bb.putDouble(value.vy);
044    bb.putDouble(value.omega);
045  }
046}