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.geometry.Rotation3d;
009import edu.wpi.first.math.proto.Geometry3D.ProtobufRotation3d;
010import edu.wpi.first.util.protobuf.Protobuf;
011import us.hebi.quickbuf.Descriptors.Descriptor;
012
013public class Rotation3dProto implements Protobuf<Rotation3d, ProtobufRotation3d> {
014  @Override
015  public Class<Rotation3d> getTypeClass() {
016    return Rotation3d.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufRotation3d.getDescriptor();
022  }
023
024  @Override
025  public Protobuf<?, ?>[] getNested() {
026    return new Protobuf<?, ?>[] {Quaternion.proto};
027  }
028
029  @Override
030  public ProtobufRotation3d createMessage() {
031    return ProtobufRotation3d.newInstance();
032  }
033
034  @Override
035  public Rotation3d unpack(ProtobufRotation3d msg) {
036    return new Rotation3d(Quaternion.proto.unpack(msg.getQ()));
037  }
038
039  @Override
040  public void pack(ProtobufRotation3d msg, Rotation3d value) {
041    Quaternion.proto.pack(msg.getMutableQ(), value.getQuaternion());
042  }
043}