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.kinematics.proto;
006
007import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
008import edu.wpi.first.math.proto.Kinematics.ProtobufDifferentialDriveKinematics;
009import edu.wpi.first.util.protobuf.Protobuf;
010import us.hebi.quickbuf.Descriptors.Descriptor;
011
012public class DifferentialDriveKinematicsProto
013    implements Protobuf<DifferentialDriveKinematics, ProtobufDifferentialDriveKinematics> {
014  @Override
015  public Class<DifferentialDriveKinematics> getTypeClass() {
016    return DifferentialDriveKinematics.class;
017  }
018
019  @Override
020  public Descriptor getDescriptor() {
021    return ProtobufDifferentialDriveKinematics.getDescriptor();
022  }
023
024  @Override
025  public ProtobufDifferentialDriveKinematics createMessage() {
026    return ProtobufDifferentialDriveKinematics.newInstance();
027  }
028
029  @Override
030  public DifferentialDriveKinematics unpack(ProtobufDifferentialDriveKinematics msg) {
031    return new DifferentialDriveKinematics(msg.getTrackWidth());
032  }
033
034  @Override
035  public void pack(ProtobufDifferentialDriveKinematics msg, DifferentialDriveKinematics value) {
036    msg.setTrackWidth(value.trackWidthMeters);
037  }
038}