[wpimath] Move DrakeJNI to edu.wpi.first.math.WPIMathJNI

wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java

@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.math;
+
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import edu.wpi.first.wpiutil.RuntimeLoader;
+
+public final class WPIMathJNI {
+  static boolean libraryLoaded = false;
+  static RuntimeLoader<WPIMathJNI> loader = null;
+
+  static {
+    if (Helper.getExtractOnStaticLoad()) {
+      try {
+        loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
+                WPIMathJNI.class);
+        loader.loadLibrary();
+      } catch (IOException ex) {
+        ex.printStackTrace();
+        System.exit(1);
+      }
+      libraryLoaded = true;
+    }
+  }
+
+  /**
+   * Force load the library.
+   *
+   * @throws IOException If the library could not be loaded or found.
+   */
+  public static synchronized void forceLoad() throws IOException {
+    if (libraryLoaded) {
+      return;
+    }
+    loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
+            WPIMathJNI.class);
+    loader.loadLibrary();
+    libraryLoaded = true;
+  }
+
+  /**
+   * Solves the discrete alegebraic Riccati equation.
+   *
+   * @param A      Array containing elements of A in row-major order.
+   * @param B      Array containing elements of B in row-major order.
+   * @param Q      Array containing elements of Q in row-major order.
+   * @param R      Array containing elements of R in row-major order.
+   * @param states Number of states in A matrix.
+   * @param inputs Number of inputs in B matrix.
+   * @param S      Array storage for DARE solution.
+   */
+  public static native void discreteAlgebraicRiccatiEquation(
+          double[] A,
+          double[] B,
+          double[] Q,
+          double[] R,
+          int states,
+          int inputs,
+          double[] S);
+
+  public static class Helper {
+    private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
+
+    public static boolean getExtractOnStaticLoad() {
+      return extractOnStaticLoad.get();
+    }
+
+    public static void setExtractOnStaticLoad(boolean load) {
+      extractOnStaticLoad.set(load);
+    }
+  }
+}