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.kinematics.struct;
006
007import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
008import edu.wpi.first.util.struct.Struct;
009import java.nio.ByteBuffer;
010
011public class DifferentialDriveKinematicsStruct implements Struct<DifferentialDriveKinematics> {
012  @Override
013  public Class<DifferentialDriveKinematics> getTypeClass() {
014    return DifferentialDriveKinematics.class;
015  }
016
017  @Override
018  public String getTypeString() {
019    return "struct:DifferentialDriveKinematics";
020  }
021
022  @Override
023  public int getSize() {
024    return kSizeDouble;
025  }
026
027  @Override
028  public String getSchema() {
029    return "double track_width";
030  }
031
032  @Override
033  public DifferentialDriveKinematics unpack(ByteBuffer bb) {
034    double trackWidth = bb.getDouble();
035    return new DifferentialDriveKinematics(trackWidth);
036  }
037
038  @Override
039  public void pack(ByteBuffer bb, DifferentialDriveKinematics value) {
040    bb.putDouble(value.trackWidthMeters);
041  }
042}