[wpimath] Replace Pose2/3d.exp(Twist2/3d) with Pose2/3d.plus(Twist2/3d.exp()) (#8188)

This better matches math notation.

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

@@ -1,70 +0,0 @@
-// 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 <jni.h>
-
-#include <wpi/jni_util.h>
-
-#include "edu_wpi_first_math_jni_Pose3dJNI.h"
-#include "frc/geometry/Pose3d.h"
-
-using namespace wpi::java;
-
-extern "C" {
-
-/*
- * Class:     edu_wpi_first_math_jni_Pose3dJNI
- * Method:    exp
- * Signature: (DDDDDDDDDDDDD)[D
- */
-JNIEXPORT jdoubleArray JNICALL
-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,
-   jdouble twistRy, jdouble twistRz)
-{
-  frc::Pose3d pose{
-      units::meter_t{poseX}, units::meter_t{poseY}, units::meter_t{poseZ},
-      frc::Rotation3d{frc::Quaternion{poseQw, poseQx, poseQy, poseQz}}};
-  frc::Twist3d twist{units::meter_t{twistDx},  units::meter_t{twistDy},
-                     units::meter_t{twistDz},  units::radian_t{twistRx},
-                     units::radian_t{twistRy}, units::radian_t{twistRz}};
-
-  frc::Pose3d result = pose.Exp(twist);
-
-  const auto& resultQuaternion = result.Rotation().GetQuaternion();
-  return MakeJDoubleArray(
-      env, {{result.X().value(), result.Y().value(), result.Z().value(),
-             resultQuaternion.W(), resultQuaternion.X(), resultQuaternion.Y(),
-             resultQuaternion.Z()}});
-}
-
-/*
- * Class:     edu_wpi_first_math_jni_Pose3dJNI
- * Method:    log
- * Signature: (DDDDDDDDDDDDDD)[D
- */
-JNIEXPORT jdoubleArray JNICALL
-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,
-   jdouble endQy, jdouble endQz)
-{
-  frc::Pose3d startPose{
-      units::meter_t{startX}, units::meter_t{startY}, units::meter_t{startZ},
-      frc::Rotation3d{frc::Quaternion{startQw, startQx, startQy, startQz}}};
-  frc::Pose3d endPose{
-      units::meter_t{endX}, units::meter_t{endY}, units::meter_t{endZ},
-      frc::Rotation3d{frc::Quaternion{endQw, endQx, endQy, endQz}}};
-
-  frc::Twist3d result = startPose.Log(endPose);
-
-  return MakeJDoubleArray(
-      env, {{result.dx.value(), result.dy.value(), result.dz.value(),
-             result.rx.value(), result.ry.value(), result.rz.value()}});
-}
-
-}  // extern "C"

wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp

@@ -0,0 +1,42 @@
+// 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 <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "edu_wpi_first_math_jni_Transform3dJNI.h"
+#include "frc/geometry/Quaternion.h"
+#include "frc/geometry/Rotation3d.h"
+#include "frc/geometry/Transform3d.h"
+#include "frc/geometry/Twist3d.h"
+#include "units/angle.h"
+#include "units/length.h"
+
+using namespace wpi::java;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_math_jni_Transform3dJNI
+ * Method:    log
+ * Signature: (DDDDDDD)[D
+ */
+JNIEXPORT jdoubleArray JNICALL
+Java_edu_wpi_first_math_jni_Transform3dJNI_log
+  (JNIEnv* env, jclass, jdouble relX, jdouble relY, jdouble relZ, jdouble relQw,
+   jdouble relQx, jdouble relQy, jdouble relQz)
+{
+  frc::Transform3d transform3d{
+      units::meter_t{relX}, units::meter_t{relY}, units::meter_t{relZ},
+      frc::Rotation3d{frc::Quaternion{relQw, relQx, relQy, relQz}}};
+
+  frc::Twist3d result = transform3d.Log();
+
+  return MakeJDoubleArray(
+      env, {{result.dx.value(), result.dy.value(), result.dz.value(),
+             result.rx.value(), result.ry.value(), result.rz.value()}});
+}
+
+}  // extern "C"

wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp

@@ -0,0 +1,42 @@
+// 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 <jni.h>
+
+#include <wpi/jni_util.h>
+
+#include "edu_wpi_first_math_jni_Twist3dJNI.h"
+#include "frc/geometry/Transform3d.h"
+#include "frc/geometry/Twist3d.h"
+#include "units/angle.h"
+#include "units/length.h"
+
+using namespace wpi::java;
+
+extern "C" {
+
+/*
+ * Class:     edu_wpi_first_math_jni_Twist3dJNI
+ * Method:    exp
+ * Signature: (DDDDDD)[D
+ */
+JNIEXPORT jdoubleArray JNICALL
+Java_edu_wpi_first_math_jni_Twist3dJNI_exp
+  (JNIEnv* env, jclass, jdouble twistDx, jdouble twistDy, jdouble twistDz,
+   jdouble twistRx, jdouble twistRy, jdouble twistRz)
+{
+  frc::Twist3d twist{units::meter_t{twistDx},  units::meter_t{twistDy},
+                     units::meter_t{twistDz},  units::radian_t{twistRx},
+                     units::radian_t{twistRy}, units::radian_t{twistRz}};
+
+  frc::Transform3d result = twist.Exp();
+
+  const auto& resultQuaternion = result.Rotation().GetQuaternion();
+  return MakeJDoubleArray(
+      env, {{result.X().value(), result.Y().value(), result.Z().value(),
+             resultQuaternion.W(), resultQuaternion.X(), resultQuaternion.Y(),
+             resultQuaternion.Z()}});
+}
+
+}  // extern "C"