VectorStruct.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.struct;
 
import java.nio.ByteBuffer;
import org.ejml.simple.SimpleMatrix;
import org.wpilib.math.linalg.Vector;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Num;
import org.wpilib.util.struct.Struct;
 
public final class VectorStruct<R extends Num> implements Struct<Vector<R>> {
  private final int m_rows;

  public VectorStruct(Nat<R> rows) {
    m_rows = rows.getNum();
  }
 
  @Override
  public Class<Vector<R>> getTypeClass() {
    @SuppressWarnings("unchecked")
    var clazz = (Class<Vector<R>>) (Class<?>) Vector.class;
    return clazz;
  }
 
  @Override
  public String getTypeName() {
    return "Vector__" + m_rows;
  }
 
  @Override
  public int getSize() {
    return DOUBLE_SIZE * m_rows;
  }
 
  @Override
  public String getSchema() {
    return "double data[" + m_rows + "]";
  }
 
  @Override
  public Vector<R> unpack(ByteBuffer bb) {
    var storage = new SimpleMatrix(Struct.unpackDoubleArray(bb, m_rows));
    return new Vector<R>(storage);
  }
 
  @Override
  public void pack(ByteBuffer bb, Vector<R> value) {
    Struct.packArray(bb, value.getData());
  }
}