wheel.hpp

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/*
 * Copyright 2022 Robert Bosch GmbH
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#pragma once
 
#include <fable/json.hpp>  // for to_json
 
#include <sol/sol.hpp>  // for Lua related aspects
 
namespace cloe {
 
struct Wheel {
  double rotation{0.0};
 
  double velocity{0.0};
 
  double spring_compression{0.0};
 
  friend void to_json(fable::Json& j, const Wheel& w) {
    j = fable::Json{
        {"rotation", w.rotation},
        {"velocity", w.velocity},
        {"spring_compression", w.spring_compression},
    };
  }
  friend void to_lua(sol::state_view view, Wheel* /* value */) {
    sol::usertype<Wheel> usertype_table = view.new_usertype<Wheel>("Wheel");
    usertype_table["rotation"] = &Wheel::rotation;
    usertype_table["velocity"] = &Wheel::velocity;
    usertype_table["spring_compression"] = &Wheel::spring_compression;
  }
};
 
}  // namespace cloe