LowLevelMessages.h

#include "LinearAlgebra/Spherical.h"
#include "LinearAlgebra/SwingTwist.h"
 
namespace Passer {
namespace RoboidControl {
 
class LowLevelMessages {
public:
  static void SendAngle8(char *buffer, unsigned char *ix, const float angle);
  static Angle8 ReceiveAngle8(const char *buffer, unsigned char *startIndex);
 
  static void SendFloat16(char *buffer, unsigned char *ix, float value);
  static float ReceiveFloat16(const char *buffer, unsigned char *startIndex);
 
  static void SendSpherical16(char *buffer, unsigned char *ix, Spherical16 s);
  static Spherical16 ReceiveSpherical16(const char *buffer,
                                        unsigned char *startIndex);
 
  static void SendQuat32(char *buffer, unsigned char *ix, SwingTwist16 q);
  static SwingTwist16 ReceiveQuat32(const char *buffer, unsigned char *ix);
};
 
} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;