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.Quaternion;
008import edu.wpi.first.math.proto.Geometry3D.ProtobufQuaternion;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class QuaternionProto implements Protobuf<Quaternion, ProtobufQuaternion> {
013  @Override
014  public Class<Quaternion> getTypeClass() {
015    return Quaternion.class;
016  }
017
018  @Override
019  public Descriptor getDescriptor() {
020    return ProtobufQuaternion.getDescriptor();
021  }
022
023  @Override
024  public ProtobufQuaternion createMessage() {
025    return ProtobufQuaternion.newInstance();
026  }
027
028  @Override
029  public Quaternion unpack(ProtobufQuaternion msg) {
030    return new Quaternion(msg.getW(), msg.getX(), msg.getY(), msg.getZ());
031  }
032
033  @Override
034  public void pack(ProtobufQuaternion msg, Quaternion value) {
035    msg.setW(value.getW());
036    msg.setX(value.getX());
037    msg.setY(value.getY());
038    msg.setZ(value.getZ());
039  }
040}