mirror of
https://github.com/wpilibsuite/allwpilib
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43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <wpi/jni_util.h>
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#include "edu_wpi_first_math_jni_Transform3dJNI.h"
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#include "frc/geometry/Quaternion.h"
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#include "frc/geometry/Rotation3d.h"
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#include "frc/geometry/Transform3d.h"
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#include "frc/geometry/Twist3d.h"
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#include "units/angle.h"
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#include "units/length.h"
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using namespace wpi::java;
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extern "C" {
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/*
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* Class: edu_wpi_first_math_jni_Transform3dJNI
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* Method: log
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* Signature: (DDDDDDD)[D
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*/
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JNIEXPORT jdoubleArray JNICALL
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Java_edu_wpi_first_math_jni_Transform3dJNI_log
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(JNIEnv* env, jclass, jdouble relX, jdouble relY, jdouble relZ, jdouble relQw,
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jdouble relQx, jdouble relQy, jdouble relQz)
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{
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frc::Transform3d transform3d{
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units::meter_t{relX}, units::meter_t{relY}, units::meter_t{relZ},
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frc::Rotation3d{frc::Quaternion{relQw, relQx, relQy, relQz}}};
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frc::Twist3d result = transform3d.Log();
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return MakeJDoubleArray(
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env, {{result.dx.value(), result.dy.value(), result.dz.value(),
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result.rx.value(), result.ry.value(), result.rz.value()}});
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}
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} // extern "C"
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