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.Rectangle2d;
009import edu.wpi.first.math.proto.Geometry2D.ProtobufRectangle2d;
010import edu.wpi.first.util.protobuf.Protobuf;
011import us.hebi.quickbuf.Descriptors.Descriptor;
012
013public class Rectangle2dProto implements Protobuf<Rectangle2d, ProtobufRectangle2d> {
014  @Override
015  public Class<Rectangle2d> getTypeClass() {
016    return Rectangle2d.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufRectangle2d.getDescriptor();
022  }
023
024  @Override
025  public ProtobufRectangle2d createMessage() {
026    return ProtobufRectangle2d.newInstance();
027  }
028
029  @Override
030  public Rectangle2d unpack(ProtobufRectangle2d msg) {
031    return new Rectangle2d(Pose2d.proto.unpack(msg.getCenter()), msg.getXWidth(), msg.getYWidth());
032  }
033
034  @Override
035  public void pack(ProtobufRectangle2d msg, Rectangle2d value) {
036    Pose2d.proto.pack(msg.getMutableCenter(), value.getCenter());
037    msg.setXWidth(value.getXWidth());
038    msg.setYWidth(value.getYWidth());
039  }
040}