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.Rotation2d;
008import edu.wpi.first.math.proto.Geometry2D.ProtobufRotation2d;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class Rotation2dProto implements Protobuf<Rotation2d, ProtobufRotation2d> {
013  @Override
014  public Class<Rotation2d> getTypeClass() {
015    return Rotation2d.class;
016  }
017
018  @Override
019  public Descriptor getDescriptor() {
020    return ProtobufRotation2d.getDescriptor();
021  }
022
023  @Override
024  public ProtobufRotation2d createMessage() {
025    return ProtobufRotation2d.newInstance();
026  }
027
028  @Override
029  public Rotation2d unpack(ProtobufRotation2d msg) {
030    return new Rotation2d(msg.getValue());
031  }
032
033  @Override
034  public void pack(ProtobufRotation2d msg, Rotation2d value) {
035    msg.setValue(value.getRadians());
036  }
037}