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[wpimath] Explicitly export wpimath symbols

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Thad House
2021-08-20 09:02:01 -07:00
committed by Peter Johnson
parent 161e211734
commit 382deef750
54 changed files with 207 additions and 101 deletions
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8
wpimath/src/main/native/include/frc/trajectory/Trajectory.h
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@@ -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

4
wpimath/src/main/native/include/frc/trajectory/TrajectoryConfig.h
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@@ -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.

4
wpimath/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
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@@ -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>;

4
wpimath/src/main/native/include/frc/trajectory/TrajectoryParameterizer.h
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@@ -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>;

4
wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h
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@@ -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;

5
wpimath/src/main/native/include/frc/trajectory/constraint/CentripetalAccelerationConstraint.h
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@@ -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);

5
wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
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@@ -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,

5
wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
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@@ -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.

15
wpimath/src/main/native/include/frc/trajectory/constraint/MaxVelocityConstraint.h
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@@ -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;

5
wpimath/src/main/native/include/frc/trajectory/constraint/MecanumDriveKinematicsConstraint.h
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@@ -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);

3
wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.h
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@@ -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(

6
wpimath/src/main/native/include/frc/trajectory/constraint/SwerveDriveKinematicsConstraint.inc
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@@ -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)

4
wpimath/src/main/native/include/frc/trajectory/constraint/TrajectoryConstraint.h
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@@ -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;