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.struct;
006
007import edu.wpi.first.math.geometry.Quaternion;
008import edu.wpi.first.util.struct.Struct;
009import java.nio.ByteBuffer;
010
011public class QuaternionStruct implements Struct<Quaternion> {
012  @Override
013  public Class<Quaternion> getTypeClass() {
014    return Quaternion.class;
015  }
016
017  @Override
018  public String getTypeString() {
019    return "struct:Quaternion";
020  }
021
022  @Override
023  public int getSize() {
024    return kSizeDouble * 4;
025  }
026
027  @Override
028  public String getSchema() {
029    return "double w;double x;double y;double z";
030  }
031
032  @Override
033  public Quaternion unpack(ByteBuffer bb) {
034    double w = bb.getDouble();
035    double x = bb.getDouble();
036    double y = bb.getDouble();
037    double z = bb.getDouble();
038    return new Quaternion(w, x, y, z);
039  }
040
041  @Override
042  public void pack(ByteBuffer bb, Quaternion value) {
043    bb.putDouble(value.getW());
044    bb.putDouble(value.getX());
045    bb.putDouble(value.getY());
046    bb.putDouble(value.getZ());
047  }
048}