WPILibC++ 2024.3.2
Rotation3dStruct.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::Rotation3d> {
14 static constexpr std::string_view GetTypeString() {
15 return "struct:Rotation3d";
16 }
17 static constexpr size_t GetSize() {
18 return wpi::GetStructSize<frc::Quaternion>();
19 }
20 static constexpr std::string_view GetSchema() { return "Quaternion q"; }
21
22 static frc::Rotation3d Unpack(std::span<const uint8_t> data);
23 static void Pack(std::span<uint8_t> data, const frc::Rotation3d& value);
24 static void ForEachNested(
25 std::invocable<std::string_view, std::string_view> auto fn) {
26 wpi::ForEachStructSchema<frc::Quaternion>(fn);
27 }
28};
29
#define WPILIB_DLLEXPORT
Definition: SymbolExports.h:36
A rotation in a 3D coordinate frame represented by a quaternion.
Definition: Rotation3d.h:20
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 void ForEachNested(std::invocable< std::string_view, std::string_view > auto fn)
Definition: Rotation3dStruct.h:24
static constexpr std::string_view GetTypeString()
Definition: Rotation3dStruct.h:14
static constexpr std::string_view GetSchema()
Definition: Rotation3dStruct.h:20
static constexpr size_t GetSize()
Definition: Rotation3dStruct.h:17
static void Pack(std::span< uint8_t > data, const frc::Rotation3d &value)
static frc::Rotation3d Unpack(std::span< const uint8_t > data)