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.geometry.proto;
006
007import edu.wpi.first.math.geometry.Twist3d;
008import edu.wpi.first.math.proto.Geometry3D.ProtobufTwist3d;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class Twist3dProto implements Protobuf<Twist3d, ProtobufTwist3d> {
013  @Override
014  public Class<Twist3d> getTypeClass() {
015    return Twist3d.class;
016  }
017
018  @Override
019  public Descriptor getDescriptor() {
020    return ProtobufTwist3d.getDescriptor();
021  }
022
023  @Override
024  public ProtobufTwist3d createMessage() {
025    return ProtobufTwist3d.newInstance();
026  }
027
028  @Override
029  public Twist3d unpack(ProtobufTwist3d msg) {
030    return new Twist3d(
031        msg.getDx(), msg.getDy(), msg.getDz(), msg.getRx(), msg.getRy(), msg.getRz());
032  }
033
034  @Override
035  public void pack(ProtobufTwist3d msg, Twist3d value) {
036    msg.setDx(value.dx);
037    msg.setDy(value.dy);
038    msg.setDz(value.dz);
039    msg.setRx(value.rx);
040    msg.setRy(value.ry);
041    msg.setRz(value.rz);
042  }
043}