Replace Vector{2,3} with nalgebra::Vector{2,3} (#70)

Co-authored-by: Aemulation <[email protected]>
IntelligentRoboticsLab · Oct 10, 2024 · a522a9d · a522a9d
1 parent d654b62
commit a522a9d
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Showing 5 changed files with 8 additions and 654 deletions.
diff --git a/nidhogg/Cargo.toml b/nidhogg/Cargo.toml
@@ -15,6 +15,7 @@ tracing = "0.1.37"
 nidhogg_derive = { workspace = true }
 coppeliasim_zmq_remote_api = { git = "https://github.com/samuel-cavalcanti/rust_zmqRemoteApi", optional = true }
 num = "0.4.1"
+nalgebra = { version = "0.32.6", features = ["serde-serialize"] }
 bevy_ecs = { version = "0.14.2", optional = true }
 
 [dev-dependencies]

diff --git a/nidhogg/src/backend/lola.rs b/nidhogg/src/backend/lola.rs
@@ -4,11 +4,13 @@
 use crate::{
     types::{
         Battery, ForceSensitiveResistorFoot, ForceSensitiveResistors, JointArray, LeftEar, LeftEye,
-        Rgb, RgbF32, RightEar, RightEye, Skull, SonarEnabled, SonarValues, Touch, Vector2, Vector3,
+        Rgb, RgbF32, RightEar, RightEye, Skull, SonarEnabled, SonarValues, Touch,
     },
     DisconnectExt, Error, HardwareInfo, NaoBackend, NaoControlMessage, NaoState, Result,
 };
 
+use nalgebra::{Vector2, Vector3};
+
 use rmp_serde::{encode, from_slice};
 use serde::{Deserialize, Serialize};
 use std::{
@@ -487,20 +489,13 @@ impl FromLoLA<[f32; 14]> for Touch {
 
 impl FromLoLA<[f32; 2]> for Vector2<f32> {
     fn from_lola(value: [f32; 2]) -> Self {
-        Vector2 {
-            x: value[0],
-            y: value[1],
-        }
+        Vector2::from(value)
     }
 }
 
 impl FromLoLA<[f32; 3]> for Vector3<f32> {
     fn from_lola(value: [f32; 3]) -> Self {
-        Vector3 {
-            x: value[0],
-            y: value[1],
-            z: value[2],
-        }
+        Vector3::from(value)
     }
 }
 

diff --git a/nidhogg/src/lib.rs b/nidhogg/src/lib.rs
@@ -39,10 +39,11 @@ mod error;
 pub mod types;
 
 pub use error::{Error, Result};
+use nalgebra::{Vector2, Vector3};
 use nidhogg_derive::Builder;
 use types::{
     color::RgbF32, Battery, FillExt, ForceSensitiveResistors, JointArray, LeftEar, LeftEye,
-    RightEar, RightEye, Skull, SonarEnabled, SonarValues, Touch, Vector2, Vector3,
+    RightEar, RightEye, Skull, SonarEnabled, SonarValues, Touch,
 };
 
 #[cfg(feature = "serde")]

diff --git a/nidhogg/src/types/mod.rs b/nidhogg/src/types/mod.rs
@@ -11,11 +11,9 @@ use bevy_ecs::prelude::Resource;
 
 pub mod color;
 mod joint_array;
-mod vector;
 
 pub use color::{Rgb, RgbF32, RgbU8};
 pub use joint_array::JointArray;
-pub use vector::{Vector2, Vector3};
 
 /// Trait that introduces the [`fill`](`FillExt::fill`) method for a type, which allows filling in all fields with the same value.
 pub trait FillExt<T> {