[wpimath] Disambiguate wpimath JNI functions (#6695)

Each collection of JNI functions now has its own class.

wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp

@@ -6,7 +6,7 @@
 
 #include <wpi/jni_util.h>
 
-#include "edu_wpi_first_math_WPIMathJNI.h"
+#include "edu_wpi_first_math_jni_ArmFeedforwardJNI.h"
 #include "frc/controller/ArmFeedforward.h"
 
 using namespace wpi::java;
@@ -14,12 +14,12 @@ using namespace wpi::java;
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_ArmFeedforwardJNI
  * Method:    calculate
  * Signature: (DDDDDDDD)D
  */
 JNIEXPORT jdouble JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_calculate
+Java_edu_wpi_first_math_jni_ArmFeedforwardJNI_calculate
   (JNIEnv* env, jclass, jdouble ks, jdouble kv, jdouble ka, jdouble kg,
    jdouble currentAngle, jdouble currentVelocity, jdouble nextVelocity,
    jdouble dt)

wpimath/src/main/native/cpp/jni/DAREJNI.cpp

@@ -8,8 +8,8 @@
 
 #include <wpi/jni_util.h>
 
-#include "WPIMathJNI_Exceptions.h"
-#include "edu_wpi_first_math_WPIMathJNI.h"
+#include "Exceptions.h"
+#include "edu_wpi_first_math_jni_DAREJNI.h"
 #include "frc/DARE.h"
 
 using namespace wpi::java;
@@ -17,12 +17,12 @@ using namespace wpi::java;
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_DAREJNI
  * Method:    dareDetailABQR
  * Signature: ([D[D[D[DII[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_dareDetailABQR
+Java_edu_wpi_first_math_jni_DAREJNI_dareDetailABQR
   (JNIEnv* env, jclass, jdoubleArray A, jdoubleArray B, jdoubleArray Q,
    jdoubleArray R, jint states, jint inputs, jdoubleArray S)
 {
@@ -54,12 +54,12 @@ Java_edu_wpi_first_math_WPIMathJNI_dareDetailABQR
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_DAREJNI
  * Method:    dareDetailABQRN
  * Signature: ([D[D[D[D[DII[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_dareDetailABQRN
+Java_edu_wpi_first_math_jni_DAREJNI_dareDetailABQRN
   (JNIEnv* env, jclass, jdoubleArray A, jdoubleArray B, jdoubleArray Q,
    jdoubleArray R, jdoubleArray N, jint states, jint inputs, jdoubleArray S)
 {
@@ -95,12 +95,12 @@ Java_edu_wpi_first_math_WPIMathJNI_dareDetailABQRN
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_DAREJNI
  * Method:    dareABQR
  * Signature: ([D[D[D[DII[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_dareABQR
+Java_edu_wpi_first_math_jni_DAREJNI_dareABQR
   (JNIEnv* env, jclass, jdoubleArray A, jdoubleArray B, jdoubleArray Q,
    jdoubleArray R, jint states, jint inputs, jdoubleArray S)
 {
@@ -133,12 +133,12 @@ Java_edu_wpi_first_math_WPIMathJNI_dareABQR
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_DAREJNI
  * Method:    dareABQRN
  * Signature: ([D[D[D[D[DII[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_dareABQRN
+Java_edu_wpi_first_math_jni_DAREJNI_dareABQRN
   (JNIEnv* env, jclass, jdoubleArray A, jdoubleArray B, jdoubleArray Q,
    jdoubleArray R, jdoubleArray N, jint states, jint inputs, jdoubleArray S)
 {

wpimath/src/main/native/cpp/jni/EigenJNI.cpp

@@ -10,19 +10,19 @@
 #include <unsupported/Eigen/MatrixFunctions>
 #include <wpi/jni_util.h>
 
-#include "edu_wpi_first_math_WPIMathJNI.h"
+#include "edu_wpi_first_math_jni_EigenJNI.h"
 
 using namespace wpi::java;
 
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_EigenJNI
  * Method:    exp
  * Signature: ([DI[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_exp
+Java_edu_wpi_first_math_jni_EigenJNI_exp
   (JNIEnv* env, jclass, jdoubleArray src, jint rows, jdoubleArray dst)
 {
   JSpan<const jdouble> arrayBody{env, src};
@@ -37,12 +37,12 @@ Java_edu_wpi_first_math_WPIMathJNI_exp
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_EigenJNI
  * Method:    pow
  * Signature: ([DID[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_pow
+Java_edu_wpi_first_math_jni_EigenJNI_pow
   (JNIEnv* env, jclass, jdoubleArray src, jint rows, jdouble exponent,
    jdoubleArray dst)
 {
@@ -58,12 +58,12 @@ Java_edu_wpi_first_math_WPIMathJNI_pow
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_EigenJNI
  * Method:    rankUpdate
  * Signature: ([DI[DDZ)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_rankUpdate
+Java_edu_wpi_first_math_jni_EigenJNI_rankUpdate
   (JNIEnv* env, jclass, jdoubleArray mat, jint rows, jdoubleArray vec,
    jdouble sigma, jboolean lowerTriangular)
 {
@@ -84,12 +84,12 @@ Java_edu_wpi_first_math_WPIMathJNI_rankUpdate
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_EigenJNI
  * Method:    solveFullPivHouseholderQr
  * Signature: ([DII[DII[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_solveFullPivHouseholderQr
+Java_edu_wpi_first_math_jni_EigenJNI_solveFullPivHouseholderQr
   (JNIEnv* env, jclass, jdoubleArray A, jint Arows, jint Acols, jdoubleArray B,
    jint Brows, jint Bcols, jdoubleArray dst)
 {

wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp

@@ -7,7 +7,7 @@
 #include <wpi/array.h>
 #include <wpi/jni_util.h>
 
-#include "edu_wpi_first_math_WPIMathJNI.h"
+#include "edu_wpi_first_math_jni_Ellipse2dJNI.h"
 #include "frc/geometry/Ellipse2d.h"
 
 using namespace wpi::java;
@@ -15,12 +15,12 @@ using namespace wpi::java;
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
- * Method:    ellipse2dFindNearestPoint
+ * Class:     edu_wpi_first_math_jni_Ellipse2dJNI
+ * Method:    findNearestPoint
  * Signature: (DDDDDDD[D)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_ellipse2dFindNearestPoint
+Java_edu_wpi_first_math_jni_Ellipse2dJNI_findNearestPoint
   (JNIEnv* env, jclass, jdouble centerX, jdouble centerY, jdouble centerHeading,
    jdouble xSemiAxis, jdouble ySemiAxis, jdouble pointX, jdouble pointY,
    jdoubleArray nearestPoint)

wpimath/src/main/native/cpp/jni/Exceptions.cpp

@@ -2,7 +2,7 @@
 // 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 "WPIMathJNI_Exceptions.h"
+#include "Exceptions.h"
 
 #include <jni.h>
 

wpimath/src/main/native/cpp/jni/Pose3dJNI.cpp

@@ -6,7 +6,7 @@
 
 #include <wpi/jni_util.h>
 
-#include "edu_wpi_first_math_WPIMathJNI.h"
+#include "edu_wpi_first_math_jni_Pose3dJNI.h"
 #include "frc/geometry/Pose3d.h"
 
 using namespace wpi::java;
@@ -14,12 +14,12 @@ using namespace wpi::java;
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
- * Method:    expPose3d
+ * Class:     edu_wpi_first_math_jni_Pose3dJNI
+ * Method:    exp
  * Signature: (DDDDDDDDDDDDD)[D
  */
 JNIEXPORT jdoubleArray JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_expPose3d
+Java_edu_wpi_first_math_jni_Pose3dJNI_exp
   (JNIEnv* env, jclass, jdouble poseX, jdouble poseY, jdouble poseZ,
    jdouble poseQw, jdouble poseQx, jdouble poseQy, jdouble poseQz,
    jdouble twistDx, jdouble twistDy, jdouble twistDz, jdouble twistRx,
@@ -42,12 +42,12 @@ Java_edu_wpi_first_math_WPIMathJNI_expPose3d
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
- * Method:    logPose3d
+ * Class:     edu_wpi_first_math_jni_Pose3dJNI
+ * Method:    log
  * Signature: (DDDDDDDDDDDDDD)[D
  */
 JNIEXPORT jdoubleArray JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_logPose3d
+Java_edu_wpi_first_math_jni_Pose3dJNI_log
   (JNIEnv* env, jclass, jdouble startX, jdouble startY, jdouble startZ,
    jdouble startQw, jdouble startQx, jdouble startQy, jdouble startQz,
    jdouble endX, jdouble endY, jdouble endZ, jdouble endQw, jdouble endQx,

wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp

@@ -7,7 +7,7 @@
 #include <Eigen/Core>
 #include <wpi/jni_util.h>
 
-#include "edu_wpi_first_math_WPIMathJNI.h"
+#include "edu_wpi_first_math_jni_StateSpaceUtilJNI.h"
 #include "frc/StateSpaceUtil.h"
 
 using namespace wpi::java;
@@ -15,12 +15,12 @@ using namespace wpi::java;
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_StateSpaceUtilJNI
  * Method:    isStabilizable
  * Signature: (II[D[D)Z
  */
 JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_isStabilizable
+Java_edu_wpi_first_math_jni_StateSpaceUtilJNI_isStabilizable
   (JNIEnv* env, jclass, jint states, jint inputs, jdoubleArray aSrc,
    jdoubleArray bSrc)
 {

wpimath/src/main/native/cpp/jni/TrajectoryUtilJNI.cpp

@@ -8,8 +8,8 @@
 
 #include <wpi/jni_util.h>
 
-#include "WPIMathJNI_Exceptions.h"
-#include "edu_wpi_first_math_WPIMathJNI.h"
+#include "Exceptions.h"
+#include "edu_wpi_first_math_jni_TrajectoryUtilJNI.h"
 #include "frc/trajectory/TrajectoryUtil.h"
 
 using namespace wpi::java;
@@ -57,12 +57,12 @@ frc::Trajectory CreateTrajectoryFromElements(std::span<const double> elements) {
 extern "C" {
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
  * Method:    fromPathweaverJson
  * Signature: (Ljava/lang/String;)[D
  */
 JNIEXPORT jdoubleArray JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_fromPathweaverJson
+Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_fromPathweaverJson
   (JNIEnv* env, jclass, jstring path)
 {
   try {
@@ -77,12 +77,12 @@ Java_edu_wpi_first_math_WPIMathJNI_fromPathweaverJson
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
  * Method:    toPathweaverJson
  * Signature: ([DLjava/lang/String;)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_toPathweaverJson
+Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_toPathweaverJson
   (JNIEnv* env, jclass, jdoubleArray elements, jstring path)
 {
   try {
@@ -96,12 +96,12 @@ Java_edu_wpi_first_math_WPIMathJNI_toPathweaverJson
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
  * Method:    deserializeTrajectory
  * Signature: (Ljava/lang/String;)[D
  */
 JNIEXPORT jdoubleArray JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_deserializeTrajectory
+Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_deserializeTrajectory
   (JNIEnv* env, jclass, jstring json)
 {
   try {
@@ -116,12 +116,12 @@ Java_edu_wpi_first_math_WPIMathJNI_deserializeTrajectory
 }
 
 /*
- * Class:     edu_wpi_first_math_WPIMathJNI
+ * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
  * Method:    serializeTrajectory
  * Signature: ([D)Ljava/lang/String;
  */
 JNIEXPORT jstring JNICALL
-Java_edu_wpi_first_math_WPIMathJNI_serializeTrajectory
+Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_serializeTrajectory
   (JNIEnv* env, jclass, jdoubleArray elements)
 {
   try {