Package edu.wpi.first.math.kinematics.struct

Class SwerveDriveKinematicsStruct

java.lang.Object

edu.wpi.first.math.kinematics.struct.SwerveDriveKinematicsStruct

All Implemented Interfaces:

Struct<SwerveDriveKinematics>

public final class SwerveDriveKinematicsStruct
extends Object
implements Struct<SwerveDriveKinematics>

Field Summary

Fields inherited from interface edu.wpi.first.util.struct.Struct

kSizeBool, kSizeDouble, kSizeFloat, kSizeInt16, kSizeInt32, kSizeInt64, kSizeInt8

Constructor Summary

Constructors

Constructor	Description
SwerveDriveKinematicsStruct(int numModules)	Constructs the Struct implementation.

Method Summary

Modifier and Type	Method	Description
Struct<?>[]	getNested()	Gets the list of struct types referenced by this struct.
String	getSchema()	Gets the schema.
int	getSize()	Gets the serialized size (in bytes).
Class<SwerveDriveKinematics>	getTypeClass()	Gets the Class object for the stored value.
String	getTypeName()	Gets the type name (e.g.
void	pack(ByteBuffer bb, SwerveDriveKinematics value)	Puts object contents to a ByteBuffer starting at the current position.
SwerveDriveKinematics	unpack(ByteBuffer bb)	Deserializes an object from a raw struct serialized ByteBuffer starting at the current position.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.util.struct.Struct

clone, getTypeString, isCloneable, isImmutable, unpackInto

Constructor Details

SwerveDriveKinematicsStruct

public SwerveDriveKinematicsStruct(int numModules)

Constructs the Struct implementation.

Parameters:

numModules - the number of modules of the kinematics objects this serializer processes.

Method Details

getTypeClass

public Class<SwerveDriveKinematics> getTypeClass()

Description copied from interface: Struct

Gets the Class object for the stored value.

Specified by:

getTypeClass in interface Struct<SwerveDriveKinematics>

Returns:

Class

getTypeName

public String getTypeName()

Description copied from interface: Struct

Gets the type name (e.g. for schemas of other structs). This should be globally unique among structs.

Specified by:

getTypeName in interface Struct<SwerveDriveKinematics>

Returns:

type name

getSize

public int getSize()

Description copied from interface: Struct

Gets the serialized size (in bytes). This should always be a constant.

Specified by:

getSize in interface Struct<SwerveDriveKinematics>

Returns:

serialized size

getSchema

public String getSchema()

Description copied from interface: Struct

Gets the schema.

Specified by:

getSchema in interface Struct<SwerveDriveKinematics>

Returns:

schema

getNested

public Struct<?>[] getNested()

Description copied from interface: Struct

Gets the list of struct types referenced by this struct.

Specified by:

getNested in interface Struct<SwerveDriveKinematics>

Returns:

list of struct types

unpack

public SwerveDriveKinematics unpack(ByteBuffer bb)

Description copied from interface: Struct

Deserializes an object from a raw struct serialized ByteBuffer starting at the current position. Will increment the ByteBuffer position by getStructSize() bytes. Will not otherwise modify the ByteBuffer (e.g. byte order will not be changed).

Specified by:

unpack in interface Struct<SwerveDriveKinematics>

Parameters:

bb - ByteBuffer

Returns:

New object

pack

public void pack(ByteBuffer bb,
 SwerveDriveKinematics value)

Description copied from interface: Struct

Puts object contents to a ByteBuffer starting at the current position. Will increment the ByteBuffer position by getStructSize() bytes. Will not otherwise modify the ByteBuffer (e.g. byte order will not be changed).

Specified by:

pack in interface Struct<SwerveDriveKinematics>

Parameters:

bb - ByteBuffer

value - object to serialize