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
#ifndef CLOE_COMPONENT_WHEEL_HPP_
#define CLOE_COMPONENT_WHEEL_HPP_

#include <fable/json.hpp>  // for to_json

namespace cloe {

struct Wheel {
  double rotation{0.0};

  double velocity{0.0};

  double spring_compression{0.0};

  friend void to_json(Json& j, const Wheel& w) {
    j = Json{
        {"rotation", w.rotation},
        {"velocity", w.velocity},
        {"spring_compression", w.spring_compression},
    };
  }
};

}  // namespace cloe

#endif  // CLOE_COMPONENT_WHEEL_HPP_