[wpimath] Explicitly export wpimath symbols

Co-authored-by: Tyler Veness <calcmogul@gmail.com>

cmake/modules/AddTest.cmake

@@ -8,7 +8,7 @@ macro(wpilib_add_test name srcdir)
         target_compile_definitions(${name}_test PRIVATE -DGTEST_LINKED_AS_SHARED_LIBRARY)
     endif()
     if (MSVC)
-        target_compile_options(${name}_test PRIVATE /wd4251 /wd4101)
+        target_compile_options(${name}_test PRIVATE /wd4101 /wd4251)
     endif()
     add_test(NAME ${name} COMMAND ${name}_test)
 endmacro()

cmake/modules/CompileWarnings.cmake

@@ -2,6 +2,6 @@ macro(wpilib_target_warnings target)
     if(NOT MSVC)
         target_compile_options(${target} PRIVATE -Wall -pedantic -Wextra -Werror -Wno-unused-parameter -Wno-error=deprecated-declarations)
     else()
-        target_compile_options(${target} PRIVATE /wd4244 /wd4267 /wd4146 /WX /wd4996)
+        target_compile_options(${target} PRIVATE /wd4146 /wd4244 /wd4251 /wd4267 /wd4996 /WX)
     endif()
 endmacro()

shared/jni/setupBuild.gradle

@@ -59,6 +59,8 @@ model {
                     it.buildable = false
                     return
                 }
+                it.cppCompiler.define 'WPILIB_EXPORTS'
+                it.cCompiler.define 'WPILIB_EXPORTS'
                 if (!project.hasProperty('noWpiutil')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 }

wpimath/CMakeLists.txt

@@ -92,10 +92,13 @@ endif()
 file(GLOB_RECURSE wpimath_native_src src/main/native/cpp/*.cpp)
 list(REMOVE_ITEM wpimath_native_src ${wpimath_jni_src})
 
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS FALSE)
 add_library(wpimath ${wpimath_native_src})
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET wpimath PROPERTY FOLDER "libraries")
+target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS)
 
 target_compile_features(wpimath PUBLIC cxx_std_17)
 if (MSVC)

wpimath/build.gradle

@@ -13,37 +13,6 @@ ext {
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
-nativeUtils.exportsConfigs {
-    wpimath {
-        x86ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
-        x64ExcludeSymbols = [
-            '_CT??_R0?AV_System_error',
-            '_CT??_R0?AVexception',
-            '_CT??_R0?AVfailure',
-            '_CT??_R0?AVruntime_error',
-            '_CT??_R0?AVsystem_error',
-            '_CTA5?AVfailure',
-            '_TI5?AVfailure',
-            '_CT??_R0?AVout_of_range',
-            '_CTA3?AVout_of_range',
-            '_TI3?AVout_of_range',
-            '_CT??_R0?AVbad_cast'
-        ]
-    }
-}
-
 cppHeadersZip {
     from('src/main/native/eigeninclude') {
         into '/'

wpimath/src/main/native/cpp/trajectory/constraint/MaxVelocityConstraint.cpp

@@ -0,0 +1,23 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/trajectory/constraint/MaxVelocityConstraint.h"
+
+using namespace frc;
+
+MaxVelocityConstraint::MaxVelocityConstraint(
+    units::meters_per_second_t maxVelocity)
+    : m_maxVelocity(units::math::abs(maxVelocity)) {}
+
+units::meters_per_second_t MaxVelocityConstraint::MaxVelocity(
+    const Pose2d& pose, units::curvature_t curvature,
+    units::meters_per_second_t velocity) const {
+  return m_maxVelocity;
+}
+
+TrajectoryConstraint::MinMax MaxVelocityConstraint::MinMaxAcceleration(
+    const Pose2d& pose, units::curvature_t curvature,
+    units::meters_per_second_t speed) const {
+  return {};
+}

wpimath/src/main/native/include/drake/math/discrete_algebraic_riccati_equation.h

@@ -4,6 +4,7 @@
 #include <cstdlib>
 
 #include <Eigen/Core>
+#include <wpi/SymbolExports.h>
 
 namespace drake {
 namespace math {
@@ -20,6 +21,7 @@ namespace math {
 /// "On the Numerical Solution of the Discrete-Time Algebraic Riccati Equation"
 /// by Thrasyvoulos Pappas, Alan J. Laub, and Nils R. Sandell
 ///
+WPILIB_DLLEXPORT
 Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& A,
     const Eigen::Ref<const Eigen::MatrixXd>& B,
@@ -69,6 +71,7 @@ Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
 /// @throws std::runtime_error if Q − NR⁻¹Nᵀ is not positive semi-definite.
 /// @throws std::runtime_error if R is not positive definite.
 ///
+WPILIB_DLLEXPORT
 Eigen::MatrixXd DiscreteAlgebraicRiccatiEquation(
     const Eigen::Ref<const Eigen::MatrixXd>& A,
     const Eigen::Ref<const Eigen::MatrixXd>& B,

wpimath/src/main/native/include/frc/MathUtil.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
 #include <wpi/numbers>
 
 #include "units/angle.h"
@@ -17,6 +18,7 @@ namespace frc {
  * @param value    Value to clip.
  * @param deadband Range around zero.
  */
+WPILIB_DLLEXPORT
 double ApplyDeadband(double value, double deadband);
 
 /**
@@ -46,6 +48,7 @@ constexpr T InputModulus(T input, T minimumInput, T maximumInput) {
  *
  * @param angle Angle to wrap.
  */
+WPILIB_DLLEXPORT
 constexpr units::radian_t AngleModulus(units::radian_t angle) {
   return InputModulus<units::radian_t>(angle,
                                        units::radian_t{-wpi::numbers::pi},

wpimath/src/main/native/include/frc/StateSpaceUtil.h

@@ -9,6 +9,8 @@
 #include <random>
 #include <type_traits>
 
+#include <wpi/SymbolExports.h>
+
 #include "Eigen/Core"
 #include "Eigen/Eigenvalues"
 #include "Eigen/QR"
@@ -236,6 +238,7 @@ Eigen::Matrix<double, N, 1> MakeWhiteNoiseVector(
  *
  * @return The vector.
  */
+WPILIB_DLLEXPORT
 Eigen::Matrix<double, 3, 1> PoseTo3dVector(const Pose2d& pose);
 
 /**
@@ -245,6 +248,7 @@ Eigen::Matrix<double, 3, 1> PoseTo3dVector(const Pose2d& pose);
  *
  * @return The vector.
  */
+WPILIB_DLLEXPORT
 Eigen::Matrix<double, 4, 1> PoseTo4dVector(const Pose2d& pose);
 
 /**
@@ -266,14 +270,14 @@ bool IsStabilizable(const Eigen::Matrix<double, States, States>& A,
 // Template specializations are used here to make common state-input pairs
 // compile faster.
 template <>
-bool IsStabilizable<1, 1>(const Eigen::Matrix<double, 1, 1>& A,
-                          const Eigen::Matrix<double, 1, 1>& B);
+WPILIB_DLLEXPORT bool IsStabilizable<1, 1>(
+    const Eigen::Matrix<double, 1, 1>& A, const Eigen::Matrix<double, 1, 1>& B);
 
 // Template specializations are used here to make common state-input pairs
 // compile faster.
 template <>
-bool IsStabilizable<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
-                          const Eigen::Matrix<double, 2, 1>& B);
+WPILIB_DLLEXPORT bool IsStabilizable<2, 1>(
+    const Eigen::Matrix<double, 2, 2>& A, const Eigen::Matrix<double, 2, 1>& B);
 
 /**
  * Converts a Pose2d into a vector of [x, y, theta].
@@ -282,6 +286,7 @@ bool IsStabilizable<2, 1>(const Eigen::Matrix<double, 2, 2>& A,
  *
  * @return The vector.
  */
+WPILIB_DLLEXPORT
 Eigen::Matrix<double, 3, 1> PoseToVector(const Pose2d& pose);
 
 /**

wpimath/src/main/native/include/frc/controller/ArmFeedforward.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <wpi/MathExtras.h>
+#include <wpi/SymbolExports.h>
 
 #include "units/angle.h"
 #include "units/angular_velocity.h"
@@ -16,7 +17,7 @@ namespace frc {
  * A helper class that computes feedforward outputs for a simple arm (modeled as
  * a motor acting against the force of gravity on a beam suspended at an angle).
  */
-class ArmFeedforward {
+class WPILIB_DLLEXPORT ArmFeedforward {
  public:
   using Angle = units::radians;
   using Velocity = units::radians_per_second;

wpimath/src/main/native/include/frc/controller/HolonomicDriveController.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/controller/PIDController.h"
 #include "frc/controller/ProfiledPIDController.h"
 #include "frc/geometry/Pose2d.h"
@@ -27,7 +29,7 @@ namespace frc {
  * translations, users can specify a custom heading that the drivetrain should
  * point toward. This heading reference is profiled for smoothness.
  */
-class HolonomicDriveController {
+class WPILIB_DLLEXPORT HolonomicDriveController {
  public:
   /**
    * Constructs a holonomic drive controller.

wpimath/src/main/native/include/frc/controller/LinearQuadraticRegulator.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Cholesky"
@@ -321,7 +322,7 @@ class LinearQuadraticRegulator
 // Template specializations are used here to make common state-input pairs
 // compile faster.
 template <>
-class LinearQuadraticRegulator<1, 1>
+class WPILIB_DLLEXPORT LinearQuadraticRegulator<1, 1>
     : public detail::LinearQuadraticRegulatorImpl<1, 1> {
  public:
   template <int Outputs>
@@ -357,7 +358,7 @@ class LinearQuadraticRegulator<1, 1>
 // Template specializations are used here to make common state-input pairs
 // compile faster.
 template <>
-class LinearQuadraticRegulator<2, 1>
+class WPILIB_DLLEXPORT LinearQuadraticRegulator<2, 1>
     : public detail::LinearQuadraticRegulatorImpl<2, 1> {
  public:
   template <int Outputs>
@@ -393,7 +394,7 @@ class LinearQuadraticRegulator<2, 1>
 // Template specializations are used here to make common state-input pairs
 // compile faster.
 template <>
-class LinearQuadraticRegulator<2, 2>
+class WPILIB_DLLEXPORT LinearQuadraticRegulator<2, 2>
     : public detail::LinearQuadraticRegulatorImpl<2, 2> {
  public:
   template <int Outputs>

wpimath/src/main/native/include/frc/controller/PIDController.h

@@ -7,6 +7,7 @@
 #include <functional>
 #include <limits>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
@@ -17,8 +18,9 @@ namespace frc2 {
 /**
  * Implements a PID control loop.
  */
-class PIDController : public wpi::Sendable,
-                      public wpi::SendableHelper<PIDController> {
+class WPILIB_DLLEXPORT PIDController
+    : public wpi::Sendable,
+      public wpi::SendableHelper<PIDController> {
  public:
   /**
    * Allocates a PIDController with the given constants for Kp, Ki, and Kd.

wpimath/src/main/native/include/frc/controller/ProfiledPIDController.h

@@ -9,6 +9,7 @@
 #include <functional>
 #include <limits>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -20,6 +21,7 @@
 
 namespace frc {
 namespace detail {
+WPILIB_DLLEXPORT
 void ReportProfiledPIDController();
 }  // namespace detail
 

wpimath/src/main/native/include/frc/controller/RamseteController.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/trajectory/Trajectory.h"
@@ -39,7 +41,7 @@ namespace frc {
  * See <https://file.tavsys.net/control/controls-engineering-in-frc.pdf> section
  * on Ramsete unicycle controller for a derivation and analysis.
  */
-class RamseteController {
+class WPILIB_DLLEXPORT RamseteController {
  public:
   /**
    * Construct a Ramsete unicycle controller.

wpimath/src/main/native/include/frc/estimator/DifferentialDrivePoseEstimator.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Core"
@@ -44,7 +45,7 @@ namespace frc {
  * <strong>y = [[x, y, theta]]ᵀ </strong> from vision,
  * or <strong>y = [[dist_l, dist_r, theta]] </strong> from encoders and gyro.
  */
-class DifferentialDrivePoseEstimator {
+class WPILIB_DLLEXPORT DifferentialDrivePoseEstimator {
  public:
   /**
    * Constructs a DifferentialDrivePoseEstimator.

wpimath/src/main/native/include/frc/estimator/KalmanFilter.h

@@ -6,6 +6,7 @@
 
 #include <cmath>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Cholesky"
@@ -209,7 +210,8 @@ class KalmanFilter : public detail::KalmanFilterImpl<States, Inputs, Outputs> {
 // Template specializations are used here to make common state-input-output
 // triplets compile faster.
 template <>
-class KalmanFilter<1, 1, 1> : public detail::KalmanFilterImpl<1, 1, 1> {
+class WPILIB_DLLEXPORT KalmanFilter<1, 1, 1>
+    : public detail::KalmanFilterImpl<1, 1, 1> {
  public:
   KalmanFilter(LinearSystem<1, 1, 1>& plant,
                const wpi::array<double, 1>& stateStdDevs,
@@ -223,7 +225,8 @@ class KalmanFilter<1, 1, 1> : public detail::KalmanFilterImpl<1, 1, 1> {
 // Template specializations are used here to make common state-input-output
 // triplets compile faster.
 template <>
-class KalmanFilter<2, 1, 1> : public detail::KalmanFilterImpl<2, 1, 1> {
+class WPILIB_DLLEXPORT KalmanFilter<2, 1, 1>
+    : public detail::KalmanFilterImpl<2, 1, 1> {
  public:
   KalmanFilter(LinearSystem<2, 1, 1>& plant,
                const wpi::array<double, 2>& stateStdDevs,

wpimath/src/main/native/include/frc/estimator/MecanumDrivePoseEstimator.h

@@ -6,6 +6,7 @@
 
 #include <functional>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Core"
@@ -42,7 +43,7 @@ namespace frc {
  * coords from vision, or <strong> y = [[theta]]ᵀ
  * </strong> from the gyro.
  */
-class MecanumDrivePoseEstimator {
+class WPILIB_DLLEXPORT MecanumDrivePoseEstimator {
  public:
   /**
    * Constructs a MecanumDrivePoseEstimator.

wpimath/src/main/native/include/frc/geometry/Pose2d.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "Transform2d.h"
 #include "Translation2d.h"
 #include "Twist2d.h"
@@ -17,7 +19,7 @@ namespace frc {
 /**
  * Represents a 2d pose containing translational and rotational elements.
  */
-class Pose2d {
+class WPILIB_DLLEXPORT Pose2d {
  public:
   /**
    * Constructs a pose at the origin facing toward the positive X axis.
@@ -171,8 +173,10 @@ class Pose2d {
   Rotation2d m_rotation;
 };
 
+WPILIB_DLLEXPORT
 void to_json(wpi::json& json, const Pose2d& pose);
 
+WPILIB_DLLEXPORT
 void from_json(const wpi::json& json, Pose2d& pose);
 
 }  // namespace frc

wpimath/src/main/native/include/frc/geometry/Rotation2d.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "units/angle.h"
 
 namespace wpi {
@@ -16,7 +18,7 @@ namespace frc {
  * A rotation in a 2d coordinate frame represented a point on the unit circle
  * (cosine and sine).
  */
-class Rotation2d {
+class WPILIB_DLLEXPORT Rotation2d {
  public:
   /**
    * Constructs a Rotation2d with a default angle of 0 degrees.
@@ -160,8 +162,10 @@ class Rotation2d {
   double m_sin = 0;
 };
 
+WPILIB_DLLEXPORT
 void to_json(wpi::json& json, const Rotation2d& rotation);
 
+WPILIB_DLLEXPORT
 void from_json(const wpi::json& json, Rotation2d& rotation);
 
 }  // namespace frc

wpimath/src/main/native/include/frc/geometry/Transform2d.h

@@ -4,16 +4,18 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "Translation2d.h"
 
 namespace frc {
 
-class Pose2d;
+class WPILIB_DLLEXPORT Pose2d;
 
 /**
  * Represents a transformation for a Pose2d.
  */
-class Transform2d {
+class WPILIB_DLLEXPORT Transform2d {
  public:
   /**
    * Constructs the transform that maps the initial pose to the final pose.

wpimath/src/main/native/include/frc/geometry/Translation2d.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "Rotation2d.h"
 #include "units/length.h"
 
@@ -21,7 +23,7 @@ namespace frc {
  * When the robot is placed on the origin, facing toward the X direction,
  * moving forward increases the X, whereas moving to the left increases the Y.
  */
-class Translation2d {
+class WPILIB_DLLEXPORT Translation2d {
  public:
   /**
    * Constructs a Translation2d with X and Y components equal to zero.
@@ -175,8 +177,10 @@ class Translation2d {
   units::meter_t m_y = 0_m;
 };
 
+WPILIB_DLLEXPORT
 void to_json(wpi::json& json, const Translation2d& state);
 
+WPILIB_DLLEXPORT
 void from_json(const wpi::json& json, Translation2d& state);
 
 }  // namespace frc

wpimath/src/main/native/include/frc/geometry/Twist2d.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "units/angle.h"
 #include "units/length.h"
 #include "units/math.h"
@@ -16,7 +18,7 @@ namespace frc {
  *
  * A Twist can be used to represent a difference between two poses.
  */
-struct Twist2d {
+struct WPILIB_DLLEXPORT Twist2d {
   /**
    * Linear "dx" component
    */

wpimath/src/main/native/include/frc/kinematics/ChassisSpeeds.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/geometry/Rotation2d.h"
 #include "units/angular_velocity.h"
 #include "units/velocity.h"
@@ -20,7 +22,7 @@ namespace frc {
  * never have a dy component because it can never move sideways. Holonomic
  * drivetrains such as swerve and mecanum will often have all three components.
  */
-struct ChassisSpeeds {
+struct WPILIB_DLLEXPORT ChassisSpeeds {
   /**
    * Represents forward velocity w.r.t the robot frame of reference. (Fwd is +)
    */

wpimath/src/main/native/include/frc/kinematics/DifferentialDriveKinematics.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/kinematics/ChassisSpeeds.h"
 #include "frc/kinematics/DifferentialDriveWheelSpeeds.h"
 #include "units/angle.h"
@@ -19,7 +21,7 @@ namespace frc {
  * velocity components whereas forward kinematics converts left and right
  * component velocities into a linear and angular chassis speed.
  */
-class DifferentialDriveKinematics {
+class WPILIB_DLLEXPORT DifferentialDriveKinematics {
  public:
   /**
    * Constructs a differential drive kinematics object.

wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "DifferentialDriveKinematics.h"
 #include "frc/geometry/Pose2d.h"
 #include "units/length.h"
@@ -21,7 +23,7 @@ namespace frc {
  * It is important that you reset your encoders to zero before using this class.
  * Any subsequent pose resets also require the encoders to be reset to zero.
  */
-class DifferentialDriveOdometry {
+class WPILIB_DLLEXPORT DifferentialDriveOdometry {
  public:
   /**
    * Constructs a DifferentialDriveOdometry object.

wpimath/src/main/native/include/frc/kinematics/DifferentialDriveWheelSpeeds.h

@@ -4,13 +4,15 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "units/velocity.h"
 
 namespace frc {
 /**
  * Represents the wheel speeds for a differential drive drivetrain.
  */
-struct DifferentialDriveWheelSpeeds {
+struct WPILIB_DLLEXPORT DifferentialDriveWheelSpeeds {
   /**
    * Speed of the left side of the robot.
    */

wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "Eigen/Core"
 #include "Eigen/QR"
 #include "frc/geometry/Translation2d.h"
@@ -35,7 +37,7 @@ namespace frc {
  * Forward kinematics is also used for odometry -- determining the position of
  * the robot on the field using encoders and a gyro.
  */
-class MecanumDriveKinematics {
+class WPILIB_DLLEXPORT MecanumDriveKinematics {
  public:
   /**
    * Constructs a mecanum drive kinematics object.

wpimath/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
 #include <wpi/timestamp.h>
 
 #include "frc/geometry/Pose2d.h"
@@ -22,7 +23,7 @@ namespace frc {
  * path following. Furthermore, odometry can be used for latency compensation
  * when using computer-vision systems.
  */
-class MecanumDriveOdometry {
+class WPILIB_DLLEXPORT MecanumDriveOdometry {
  public:
   /**
    * Constructs a MecanumDriveOdometry object.

wpimath/src/main/native/include/frc/kinematics/MecanumDriveWheelSpeeds.h

@@ -4,13 +4,15 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "units/velocity.h"
 
 namespace frc {
 /**
  * Represents the wheel speeds for a mecanum drive drivetrain.
  */
-struct MecanumDriveWheelSpeeds {
+struct WPILIB_DLLEXPORT MecanumDriveWheelSpeeds {
   /**
    * Speed of the front-left wheel.
    */

wpimath/src/main/native/include/frc/kinematics/SwerveModuleState.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/geometry/Rotation2d.h"
 #include "units/angle.h"
 #include "units/math.h"
@@ -13,7 +15,7 @@ namespace frc {
 /**
  * Represents the state of one swerve module.
  */
-struct SwerveModuleState {
+struct WPILIB_DLLEXPORT SwerveModuleState {
   /**
    * Speed of the wheel of the module.
    */

wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Core"
@@ -13,7 +14,7 @@ namespace frc {
 /**
  * Represents a hermite spline of degree 3.
  */
-class CubicHermiteSpline : public Spline<3> {
+class WPILIB_DLLEXPORT CubicHermiteSpline : public Spline<3> {
  public:
   /**
    * Constructs a cubic hermite spline with the specified control vectors. Each

wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "Eigen/Core"
@@ -13,7 +14,7 @@ namespace frc {
 /**
  * Represents a hermite spline of degree 5.
  */
-class QuinticHermiteSpline : public Spline<5> {
+class WPILIB_DLLEXPORT QuinticHermiteSpline : public Spline<5> {
  public:
   /**
    * Constructs a quintic hermite spline with the specified control vectors.

wpimath/src/main/native/include/frc/spline/SplineHelper.h

@@ -7,6 +7,7 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/SymbolExports.h>
 #include <wpi/array.h>
 
 #include "frc/spline/CubicHermiteSpline.h"
@@ -17,7 +18,7 @@ namespace frc {
  * Helper class that is used to generate cubic and quintic splines from user
  * provided waypoints.
  */
-class SplineHelper {
+class WPILIB_DLLEXPORT SplineHelper {
  public:
   /**
    * Returns 2 cubic control vectors from a set of exterior waypoints and

wpimath/src/main/native/include/frc/spline/SplineParameterizer.h

@@ -33,6 +33,8 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/spline/Spline.h"
 #include "units/angle.h"
 #include "units/curvature.h"
@@ -44,7 +46,7 @@ namespace frc {
 /**
  * Class used to parameterize a spline by its arc length.
  */
-class SplineParameterizer {
+class WPILIB_DLLEXPORT SplineParameterizer {
  public:
   using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
 

wpimath/src/main/native/include/frc/system/plant/DCMotor.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "units/angular_velocity.h"
 #include "units/current.h"
 #include "units/impedance.h"
@@ -15,7 +17,7 @@ namespace frc {
 /**
  * Holds the constants for a DC motor.
  */
-class DCMotor {
+class WPILIB_DLLEXPORT DCMotor {
  public:
   using radians_per_second_per_volt_t =
       units::unit_t<units::compound_unit<units::radians_per_second,

wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h

@@ -4,7 +4,8 @@
 
 #pragma once
 
-#include "frc/StateSpaceUtil.h"
+#include <wpi/SymbolExports.h>
+
 #include "frc/system/LinearSystem.h"
 #include "frc/system/plant/DCMotor.h"
 #include "units/acceleration.h"
@@ -16,7 +17,7 @@
 #include "units/voltage.h"
 
 namespace frc {
-class LinearSystemId {
+class WPILIB_DLLEXPORT LinearSystemId {
  public:
   template <typename Distance>
   using Velocity_t = units::unit_t<

wpimath/src/main/native/include/frc/trajectory/Trajectory.h

@@ -6,6 +6,8 @@
 
 #include <vector>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Transform2d.h"
 #include "units/acceleration.h"
@@ -23,12 +25,12 @@ namespace frc {
  * various States that represent the pose, curvature, time elapsed, velocity,
  * and acceleration at that point.
  */
-class Trajectory {
+class WPILIB_DLLEXPORT Trajectory {
  public:
   /**
    * Represents one point on the trajectory.
    */
-  struct State {
+  struct WPILIB_DLLEXPORT State {
     // The time elapsed since the beginning of the trajectory.
     units::second_t t = 0_s;
 
@@ -171,8 +173,10 @@ class Trajectory {
   }
 };
 
+WPILIB_DLLEXPORT
 void to_json(wpi::json& json, const Trajectory::State& state);
 
+WPILIB_DLLEXPORT
 void from_json(const wpi::json& json, Trajectory::State& state);
 
 }  // namespace frc

wpimath/src/main/native/include/frc/trajectory/TrajectoryConfig.h

@@ -8,6 +8,8 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/kinematics/MecanumDriveKinematics.h"
 #include "frc/kinematics/SwerveDriveKinematics.h"
@@ -29,7 +31,7 @@ namespace frc {
  * have been defaulted to reasonable values (0, 0, {}, false). These values can
  * be changed via the SetXXX methods.
  */
-class TrajectoryConfig {
+class WPILIB_DLLEXPORT TrajectoryConfig {
  public:
   /**
    * Constructs a config object.

wpimath/src/main/native/include/frc/trajectory/TrajectoryGenerator.h

@@ -9,6 +9,8 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/spline/SplineParameterizer.h"
 #include "frc/trajectory/Trajectory.h"
 #include "frc/trajectory/TrajectoryConfig.h"
@@ -19,7 +21,7 @@ namespace frc {
 /**
  * Helper class used to generate trajectories with various constraints.
  */
-class TrajectoryGenerator {
+class WPILIB_DLLEXPORT TrajectoryGenerator {
  public:
   using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
 

wpimath/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h

@@ -32,6 +32,8 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/trajectory/Trajectory.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
 
@@ -39,7 +41,7 @@ namespace frc {
 /**
  * Class used to parameterize a trajectory by time.
  */
-class TrajectoryParameterizer {
+class WPILIB_DLLEXPORT TrajectoryParameterizer {
  public:
   using PoseWithCurvature = std::pair<Pose2d, units::curvature_t>;
 

wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h

@@ -7,10 +7,12 @@
 #include <string>
 #include <string_view>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/trajectory/Trajectory.h"
 
 namespace frc {
-class TrajectoryUtil {
+class WPILIB_DLLEXPORT TrajectoryUtil {
  public:
   TrajectoryUtil() = delete;
 

wpimath/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
 #include "units/acceleration.h"
 #include "units/curvature.h"
@@ -20,7 +22,8 @@ namespace frc {
  * robot to slow down around tight turns, making it easier to track trajectories
  * with sharp turns.
  */
-class CentripetalAccelerationConstraint : public TrajectoryConstraint {
+class WPILIB_DLLEXPORT CentripetalAccelerationConstraint
+    : public TrajectoryConstraint {
  public:
   explicit CentripetalAccelerationConstraint(
       units::meters_per_second_squared_t maxCentripetalAcceleration);

wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
 #include "units/velocity.h"
@@ -15,7 +17,8 @@ namespace frc {
  * commanded velocities for both sides of the drivetrain stay below a certain
  * limit.
  */
-class DifferentialDriveKinematicsConstraint : public TrajectoryConstraint {
+class WPILIB_DLLEXPORT DifferentialDriveKinematicsConstraint
+    : public TrajectoryConstraint {
  public:
   DifferentialDriveKinematicsConstraint(
       const DifferentialDriveKinematics& kinematics,

wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/controller/SimpleMotorFeedforward.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
@@ -17,7 +19,8 @@ namespace frc {
  * acceleration of any wheel of the robot while following the trajectory is
  * never higher than what can be achieved with the given maximum voltage.
  */
-class DifferentialDriveVoltageConstraint : public TrajectoryConstraint {
+class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
+    : public TrajectoryConstraint {
  public:
   /**
    * Creates a new DifferentialDriveVoltageConstraint.

wpimath/src/main/native/include/frc/trajectory/constraint/MaxVelocityConstraint.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
 #include "units/math.h"
 #include "units/velocity.h"
@@ -14,26 +16,21 @@ namespace frc {
  * with the EllipticalRegionConstraint or RectangularRegionConstraint to enforce
  * a max velocity within a region.
  */
-class MaxVelocityConstraint : public TrajectoryConstraint {
+class WPILIB_DLLEXPORT MaxVelocityConstraint : public TrajectoryConstraint {
  public:
   /**
    * Constructs a new MaxVelocityConstraint.
    *
    * @param maxVelocity The max velocity.
    */
-  explicit MaxVelocityConstraint(units::meters_per_second_t maxVelocity)
-      : m_maxVelocity(units::math::abs(maxVelocity)) {}
+  explicit MaxVelocityConstraint(units::meters_per_second_t maxVelocity);
 
   units::meters_per_second_t MaxVelocity(
       const Pose2d& pose, units::curvature_t curvature,
-      units::meters_per_second_t velocity) const override {
-    return m_maxVelocity;
-  }
+      units::meters_per_second_t velocity) const override;
 
   MinMax MinMaxAcceleration(const Pose2d& pose, units::curvature_t curvature,
-                            units::meters_per_second_t speed) const override {
-    return {};
-  }
+                            units::meters_per_second_t speed) const override;
 
  private:
   units::meters_per_second_t m_maxVelocity;

wpimath/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h

@@ -6,6 +6,8 @@
 
 #include <cmath>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/kinematics/MecanumDriveKinematics.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
 #include "units/velocity.h"
@@ -17,7 +19,8 @@ namespace frc {
  * commanded velocities for wheels of the drivetrain stay below a certain
  * limit.
  */
-class MecanumDriveKinematicsConstraint : public TrajectoryConstraint {
+class WPILIB_DLLEXPORT MecanumDriveKinematicsConstraint
+    : public TrajectoryConstraint {
  public:
   MecanumDriveKinematicsConstraint(const MecanumDriveKinematics& kinematics,
                                    units::meters_per_second_t maxSpeed);

wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h

@@ -12,13 +12,12 @@
 
 namespace frc {
 
-template <size_t NumModules>
-
 /**
  * A class that enforces constraints on the swerve drive kinematics.
  * This can be used to ensure that the trajectory is constructed so that the
  * commanded velocities of the wheels stay below a certain limit.
  */
+template <size_t NumModules>
 class SwerveDriveKinematicsConstraint : public TrajectoryConstraint {
  public:
   SwerveDriveKinematicsConstraint(

wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc

@@ -10,12 +10,6 @@
 namespace frc {
 
 template <size_t NumModules>
-
-/**
- * A class that enforces constraints on the swerve drive kinematics.
- * This can be used to ensure that the trajectory is constructed so that the
- * commanded velocities of the wheels stay below a certain limit.
- */
 SwerveDriveKinematicsConstraint<NumModules>::SwerveDriveKinematicsConstraint(
     const frc::SwerveDriveKinematics<NumModules>& kinematics,
     units::meters_per_second_t maxSpeed)

wpimath/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h

@@ -6,6 +6,8 @@
 
 #include <limits>
 
+#include <wpi/SymbolExports.h>
+
 #include "frc/geometry/Pose2d.h"
 #include "frc/spline/Spline.h"
 #include "units/acceleration.h"
@@ -17,7 +19,7 @@ namespace frc {
  * An interface for defining user-defined velocity and acceleration constraints
  * while generating trajectories.
  */
-class TrajectoryConstraint {
+class WPILIB_DLLEXPORT TrajectoryConstraint {
  public:
   TrajectoryConstraint() = default;
 

wpimath/src/main/native/include/units/base.h

@@ -84,6 +84,8 @@
 	#include <fmt/format.h>
 #endif
 
+#include <wpi/SymbolExports.h>
+
 //------------------------------
 //	STRING FORMATTER
 //------------------------------

wpimath/src/main/native/include/wpimath/MathShared.h

@@ -7,6 +7,7 @@
 #include <memory>
 
 #include <fmt/format.h>
+#include <wpi/SymbolExports.h>
 
 namespace wpi::math {
 
@@ -23,7 +24,7 @@ enum class MathUsageId {
   kController_ProfiledPIDController,
 };
 
-class MathShared {
+class WPILIB_DLLEXPORT MathShared {
  public:
   virtual ~MathShared() = default;
   virtual void ReportErrorV(fmt::string_view format, fmt::format_args args) = 0;
@@ -42,7 +43,7 @@ class MathShared {
   }
 };
 
-class MathSharedStore {
+class WPILIB_DLLEXPORT MathSharedStore {
  public:
   static MathShared& GetMathShared();
 

wpiutil/src/main/native/include/wpi/SymbolExports.h

@@ -0,0 +1,23 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#ifdef _WIN32
+#pragma warning(disable : 4251)
+
+#ifdef WPILIB_EXPORTS
+#ifdef __GNUC__
+#define WPILIB_DLLEXPORT __attribute__((dllexport))
+#else
+#define WPILIB_DLLEXPORT __declspec(dllexport)
+#endif
+
+#else
+#define WPILIB_DLLEXPORT
+#endif
+
+#else
+#define WPILIB_DLLEXPORT __attribute__((visibility("default")))
+#endif

wpiutil/src/main/native/include/wpi/sendable/Sendable.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include "wpi/SymbolExports.h"
+
 namespace wpi {
 
 class SendableBuilder;
@@ -11,7 +13,7 @@ class SendableBuilder;
 /**
  * Interface for Sendable objects.
  */
-class Sendable {
+class WPILIB_DLLEXPORT Sendable {
  public:
   virtual ~Sendable() = default;