WPILibC++ 2024.3.2
DifferentialDriveKinematicsStruct.h
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1// Copyright (c) FIRST and other WPILib contributors.
2// Open Source Software; you can modify and/or share it under the terms of
3// the WPILib BSD license file in the root directory of this project.
4
5#pragma once
6
7#include <wpi/SymbolExports.h>
8#include <wpi/struct/Struct.h>
9
11
12template <>
13struct WPILIB_DLLEXPORT wpi::Struct<frc::DifferentialDriveKinematics> {
14 static constexpr std::string_view GetTypeString() {
15 return "struct:DifferentialDriveKinematics";
16 }
17 static constexpr size_t GetSize() { return 8; }
18 static constexpr std::string_view GetSchema() { return "double track_width"; }
19
20 static frc::DifferentialDriveKinematics Unpack(std::span<const uint8_t> data);
21 static void Pack(std::span<uint8_t> data,
23};
24
#define WPILIB_DLLEXPORT
Definition: SymbolExports.h:36
Helper class that converts a chassis velocity (dx and dtheta components) to left and right wheel velo...
Definition: DifferentialDriveKinematics.h:29
Specifies that a type is capable of raw struct serialization and deserialization.
Definition: Struct.h:68
basic_string_view< char > string_view
Definition: core.h:501
Definition: ntcore_cpp.h:26
static void Pack(std::span< uint8_t > data, const frc::DifferentialDriveKinematics &value)
static frc::DifferentialDriveKinematics Unpack(std::span< const uint8_t > data)
static constexpr std::string_view GetTypeString()
Definition: DifferentialDriveKinematicsStruct.h:14
static constexpr std::string_view GetSchema()
Definition: DifferentialDriveKinematicsStruct.h:18
static constexpr size_t GetSize()
Definition: DifferentialDriveKinematicsStruct.h:17