WPILibC++ 2024.3.2
MecanumDriveKinematicsStruct.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::MecanumDriveKinematics> {
14 static constexpr std::string_view GetTypeString() {
15 return "struct:MecanumDriveKinematics";
16 }
17 static constexpr size_t GetSize() {
18 return 4 * wpi::GetStructSize<frc::Translation2d>();
19 }
20 static constexpr std::string_view GetSchema() {
21 return "Translation2d front_left;Translation2d front_right;Translation2d "
22 "rear_left;Translation2d rear_right";
23 }
24
25 static frc::MecanumDriveKinematics Unpack(std::span<const uint8_t> data);
26 static void Pack(std::span<uint8_t> data,
27 const frc::MecanumDriveKinematics& value);
28 static void ForEachNested(
29 std::invocable<std::string_view, std::string_view> auto fn) {
30 wpi::ForEachStructSchema<frc::Translation2d>(fn);
31 }
32};
33
#define WPILIB_DLLEXPORT
Definition: SymbolExports.h:36
Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual wheel s...
Definition: MecanumDriveKinematics.h:44
Specifies that a struct type has nested struct declarations.
Definition: Struct.h:119
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 frc::MecanumDriveKinematics Unpack(std::span< const uint8_t > data)
static void ForEachNested(std::invocable< std::string_view, std::string_view > auto fn)
Definition: MecanumDriveKinematicsStruct.h:28
static constexpr std::string_view GetTypeString()
Definition: MecanumDriveKinematicsStruct.h:14
static constexpr std::string_view GetSchema()
Definition: MecanumDriveKinematicsStruct.h:20
static constexpr size_t GetSize()
Definition: MecanumDriveKinematicsStruct.h:17
static void Pack(std::span< uint8_t > data, const frc::MecanumDriveKinematics &value)