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.math.geometry.Rotation3d;
009import edu.wpi.first.util.struct.Struct;
010import java.nio.ByteBuffer;
011
012public class Rotation3dStruct implements Struct<Rotation3d> {
013  @Override
014  public Class<Rotation3d> getTypeClass() {
015    return Rotation3d.class;
016  }
017
018  @Override
019  public String getTypeString() {
020    return "struct:Rotation3d";
021  }
022
023  @Override
024  public int getSize() {
025    return Quaternion.struct.getSize();
026  }
027
028  @Override
029  public String getSchema() {
030    return "Quaternion q";
031  }
032
033  @Override
034  public Struct<?>[] getNested() {
035    return new Struct<?>[] {Quaternion.struct};
036  }
037
038  @Override
039  public Rotation3d unpack(ByteBuffer bb) {
040    Quaternion q = Quaternion.struct.unpack(bb);
041    return new Rotation3d(q);
042  }
043
044  @Override
045  public void pack(ByteBuffer bb, Rotation3d value) {
046    Quaternion.struct.pack(bb, value.getQuaternion());
047  }
048}