001// Copyright (c) FIRST and other WPILib contributors.
002// Open Source Software; you can modify and/or share it under the terms of
003// the WPILib BSD license file in the root directory of this project.
004
005package edu.wpi.first.math.geometry.proto;
006
007import edu.wpi.first.math.geometry.Ellipse2d;
008import edu.wpi.first.math.geometry.Pose2d;
009import edu.wpi.first.math.proto.Geometry2D.ProtobufEllipse2d;
010import edu.wpi.first.util.protobuf.Protobuf;
011import us.hebi.quickbuf.Descriptors.Descriptor;
012
013public class Ellipse2dProto implements Protobuf<Ellipse2d, ProtobufEllipse2d> {
014  @Override
015  public Class<Ellipse2d> getTypeClass() {
016    return Ellipse2d.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufEllipse2d.getDescriptor();
022  }
023
024  @Override
025  public ProtobufEllipse2d createMessage() {
026    return ProtobufEllipse2d.newInstance();
027  }
028
029  @Override
030  public Ellipse2d unpack(ProtobufEllipse2d msg) {
031    return new Ellipse2d(
032        Pose2d.proto.unpack(msg.getCenter()), msg.getXSemiAxis(), msg.getYSemiAxis());
033  }
034
035  @Override
036  public void pack(ProtobufEllipse2d msg, Ellipse2d value) {
037    Pose2d.proto.pack(msg.getMutableCenter(), value.getCenter());
038    msg.setXSemiAxis(value.getXSemiAxis());
039    msg.setYSemiAxis(value.getYSemiAxis());
040  }
041}