VectorProto.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
 
package org.wpilib.math.linalg.proto;
 
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.linalg.Vector;
import org.wpilib.math.linalg.proto.detail.ProtobufVector;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.util.protobuf.Protobuf;
import us.hebi.quickbuf.Descriptors.Descriptor;
 
public final class VectorProto<R extends Num> implements Protobuf<Vector<R>, ProtobufVector> {
  private final Nat<R> m_rows;

  public VectorProto(Nat<R> rows) {
    m_rows = rows;
  }
 
  @Override
  public Class<Vector<R>> getTypeClass() {
    @SuppressWarnings("unchecked")
    var clazz = (Class<Vector<R>>) (Class<?>) Vector.class;
    return clazz;
  }
 
  @Override
  public Descriptor getDescriptor() {
    return ProtobufVector.getDescriptor();
  }
 
  @Override
  public ProtobufVector createMessage() {
    return ProtobufVector.newInstance();
  }
 
  @Override
  public Vector<R> unpack(ProtobufVector msg) {
    if (msg.getRows().length() != m_rows.getNum()) {
      throw new IllegalArgumentException(
          "Tried to unpack msg "
              + msg
              + " with "
              + msg.getRows().length()
              + " rows into Vector with "
              + m_rows.getNum()
              + " rows");
    }
    var storage = new SimpleMatrix(Protobuf.unpackArray(msg.getRows()));
    return new Vector<R>(storage);
  }
 
  @Override
  public void pack(ProtobufVector msg, Vector<R> value) {
    Protobuf.packArray(msg.getMutableRows(), value.getData());
  }
}