WPILibC++ 2024.3.2
Transform3dStruct.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::Transform3d> {
14 static constexpr std::string_view GetTypeString() {
15 return "struct:Transform3d";
16 }
17 static constexpr size_t GetSize() {
18 return wpi::GetStructSize<frc::Translation3d>() +
19 wpi::GetStructSize<frc::Rotation3d>();
20 }
21 static constexpr std::string_view GetSchema() {
22 return "Translation3d translation;Rotation3d rotation";
23 }
24
25 static frc::Transform3d Unpack(std::span<const uint8_t> data);
26 static void Pack(std::span<uint8_t> data, const frc::Transform3d& value);
27 static void ForEachNested(
28 std::invocable<std::string_view, std::string_view> auto fn) {
29 wpi::ForEachStructSchema<frc::Translation3d>(fn);
30 wpi::ForEachStructSchema<frc::Rotation3d>(fn);
31 }
32};
33
#define WPILIB_DLLEXPORT
Definition: SymbolExports.h:36
Represents a transformation for a Pose3d in the pose's frame.
Definition: Transform3d.h:18
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: Transform3dStruct.h:27
static void Pack(std::span< uint8_t > data, const frc::Transform3d &value)
static constexpr std::string_view GetTypeString()
Definition: Transform3dStruct.h:14
static constexpr std::string_view GetSchema()
Definition: Transform3dStruct.h:21
static constexpr size_t GetSize()
Definition: Transform3dStruct.h:17
static frc::Transform3d Unpack(std::span< const uint8_t > data)