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.Pose2d;
008import edu.wpi.first.math.geometry.Rotation2d;
009import edu.wpi.first.math.geometry.Translation2d;
010import edu.wpi.first.math.proto.Geometry2D.ProtobufPose2d;
011import edu.wpi.first.util.protobuf.Protobuf;
012import us.hebi.quickbuf.Descriptors.Descriptor;
013
014public class Pose2dProto implements Protobuf<Pose2d, ProtobufPose2d> {
015  @Override
016  public Class<Pose2d> getTypeClass() {
017    return Pose2d.class;
018  }
019
020  @Override
021  public Descriptor getDescriptor() {
022    return ProtobufPose2d.getDescriptor();
023  }
024
025  @Override
026  public Protobuf<?, ?>[] getNested() {
027    return new Protobuf<?, ?>[] {Translation2d.proto, Rotation2d.proto};
028  }
029
030  @Override
031  public ProtobufPose2d createMessage() {
032    return ProtobufPose2d.newInstance();
033  }
034
035  @Override
036  public Pose2d unpack(ProtobufPose2d msg) {
037    return new Pose2d(
038        Translation2d.proto.unpack(msg.getTranslation()),
039        Rotation2d.proto.unpack(msg.getRotation()));
040  }
041
042  @Override
043  public void pack(ProtobufPose2d msg, Pose2d value) {
044    Translation2d.proto.pack(msg.getMutableTranslation(), value.getTranslation());
045    Rotation2d.proto.pack(msg.getMutableRotation(), value.getRotation());
046  }
047}