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.struct;
006
007import edu.wpi.first.math.geometry.Pose2d;
008import edu.wpi.first.math.geometry.Rectangle2d;
009import edu.wpi.first.util.struct.Struct;
010import java.nio.ByteBuffer;
011
012public class Rectangle2dStruct implements Struct<Rectangle2d> {
013  @Override
014  public Class<Rectangle2d> getTypeClass() {
015    return Rectangle2d.class;
016  }
017
018  @Override
019  public String getTypeName() {
020    return "Rectangle2d";
021  }
022
023  @Override
024  public int getSize() {
025    return Pose2d.struct.getSize() + kSizeDouble + kSizeDouble;
026  }
027
028  @Override
029  public String getSchema() {
030    return "Pose2d center;double xWidth; double yWidth";
031  }
032
033  @Override
034  public Struct<?>[] getNested() {
035    return new Struct<?>[] {Pose2d.struct};
036  }
037
038  @Override
039  public Rectangle2d unpack(ByteBuffer bb) {
040    Pose2d center = Pose2d.struct.unpack(bb);
041    double width = bb.getDouble();
042    double height = bb.getDouble();
043    return new Rectangle2d(center, width, height);
044  }
045
046  @Override
047  public void pack(ByteBuffer bb, Rectangle2d value) {
048    Pose2d.struct.pack(bb, value.getCenter());
049    bb.putDouble(value.getXWidth());
050    bb.putDouble(value.getYWidth());
051  }
052}