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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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16
wpimath/src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
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@@ -8,7 +8,7 @@
#include "wpi/math/controller/ArmFeedforward.hpp"
#include "wpi/util/jni_util.hpp"
using namespace wpi::java;
using namespace wpi::util::java;
extern "C" {
@@ -23,13 +23,13 @@ Java_org_wpilib_math_jni_ArmFeedforwardJNI_calculate
jdouble currentAngle, jdouble currentVelocity, jdouble nextVelocity,
jdouble dt)
{
return frc::ArmFeedforward{units::volt_t{ks}, units::volt_t{kg},
units::unit_t<frc::ArmFeedforward::kv_unit>{kv},
units::unit_t<frc::ArmFeedforward::ka_unit>{ka},
units::second_t{dt}}
.Calculate(units::radian_t{currentAngle},
units::radians_per_second_t{currentVelocity},
units::radians_per_second_t{nextVelocity})
return wpi::math::ArmFeedforward{wpi::units::volt_t{ks}, wpi::units::volt_t{kg},
wpi::units::unit_t<wpi::math::ArmFeedforward::kv_unit>{kv},
wpi::units::unit_t<wpi::math::ArmFeedforward::ka_unit>{ka},
wpi::units::second_t{dt}}
.Calculate(wpi::units::radian_t{currentAngle},
wpi::units::radians_per_second_t{currentVelocity},
wpi::units::radians_per_second_t{nextVelocity})
.value();
}

34
wpimath/src/main/native/cpp/jni/DAREJNI.cpp
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@@ -13,7 +13,7 @@
#include "wpi/math/linalg/DARE.hpp"
#include "wpi/util/jni_util.hpp"
using namespace wpi::java;
using namespace wpi::util::java;
extern "C" {
@@ -46,7 +46,7 @@ Java_org_wpilib_math_jni_DAREJNI_dareNoPrecondABQR
Rmat{nativeR.data(), inputs, inputs};
auto result =
frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat, false)
wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat, false)
.value();
env->SetDoubleArrayRegion(S, 0, states * states, result.data());
@@ -84,7 +84,7 @@ Java_org_wpilib_math_jni_DAREJNI_dareNoPrecondABQRN
Eigen::RowMajor>>
Nmat{nativeN.data(), states, inputs};
auto result = frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
auto result = wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
Rmat, Nmat, false)
.value();
@@ -120,21 +120,21 @@ Java_org_wpilib_math_jni_DAREJNI_dareABQR
Rmat{nativeR.data(), inputs, inputs};
if (auto result =
frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat)) {
wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat, Rmat)) {
env->SetDoubleArrayRegion(S, 0, states * states, result.value().data());
// K = (BᵀSB + R)⁻¹BᵀSA
} else if (result.error() == frc::DAREError::QNotSymmetric ||
result.error() == frc::DAREError::QNotPositiveSemidefinite) {
} else if (result.error() == wpi::math::DAREError::QNotSymmetric ||
result.error() == wpi::math::DAREError::QNotPositiveSemidefinite) {
illegalArgEx.Throw(
env, fmt::format("{}\n\nQ =\n{}\n", to_string(result.error()), Qmat));
} else if (result.error() == frc::DAREError::RNotSymmetric ||
result.error() == frc::DAREError::RNotPositiveDefinite) {
} else if (result.error() == wpi::math::DAREError::RNotSymmetric ||
result.error() == wpi::math::DAREError::RNotPositiveDefinite) {
illegalArgEx.Throw(
env, fmt::format("{}\n\nR =\n{}\n", to_string(result.error()), Rmat));
} else if (result.error() == frc::DAREError::ABNotStabilizable) {
} else if (result.error() == wpi::math::DAREError::ABNotStabilizable) {
illegalArgEx.Throw(env, fmt::format("{}\n\nA =\n{}\nB =\n{}\n",
to_string(result.error()), Amat, Bmat));
} else if (result.error() == frc::DAREError::ACNotDetectable) {
} else if (result.error() == wpi::math::DAREError::ACNotDetectable) {
illegalArgEx.Throw(env, fmt::format("{}\n\nA =\n{}\nQ =\n{}\n",
to_string(result.error()), Amat, Qmat));
}
@@ -172,23 +172,23 @@ Java_org_wpilib_math_jni_DAREJNI_dareABQRN
Eigen::RowMajor>>
Nmat{nativeN.data(), states, inputs};
if (auto result = frc::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
if (auto result = wpi::math::DARE<Eigen::Dynamic, Eigen::Dynamic>(Amat, Bmat, Qmat,
Rmat, Nmat)) {
env->SetDoubleArrayRegion(S, 0, states * states, result.value().data());
} else if (result.error() == frc::DAREError::QNotSymmetric ||
result.error() == frc::DAREError::QNotPositiveSemidefinite) {
} else if (result.error() == wpi::math::DAREError::QNotSymmetric ||
result.error() == wpi::math::DAREError::QNotPositiveSemidefinite) {
illegalArgEx.Throw(
env, fmt::format("{}\n\nQ =\n{}\n", to_string(result.error()), Qmat));
} else if (result.error() == frc::DAREError::RNotSymmetric ||
result.error() == frc::DAREError::RNotPositiveDefinite) {
} else if (result.error() == wpi::math::DAREError::RNotSymmetric ||
result.error() == wpi::math::DAREError::RNotPositiveDefinite) {
illegalArgEx.Throw(
env, fmt::format("{}\n\nR =\n{}\n", to_string(result.error()), Rmat));
} else if (result.error() == frc::DAREError::ABNotStabilizable) {
} else if (result.error() == wpi::math::DAREError::ABNotStabilizable) {
illegalArgEx.Throw(
env,
fmt::format("{}\n\nA =\n{}\nB =\n{}\n", to_string(result.error()),
Amat - Bmat * Rmat.llt().solve(Nmat.transpose()), Bmat));
} else if (result.error() == frc::DAREError::ACNotDetectable) {
} else if (result.error() == wpi::math::DAREError::ACNotDetectable) {
auto R_llt = Rmat.llt();
illegalArgEx.Throw(
env, fmt::format("{}\n\nA =\n{}\nQ =\n{}\n", to_string(result.error()),

2
wpimath/src/main/native/cpp/jni/EigenJNI.cpp
View File

@@ -12,7 +12,7 @@
#include "org_wpilib_math_jni_EigenJNI.h"
#include "wpi/util/jni_util.hpp"
using namespace wpi::java;
using namespace wpi::util::java;
extern "C" {

14
wpimath/src/main/native/cpp/jni/Ellipse2dJNI.cpp
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@@ -9,7 +9,7 @@
#include "wpi/util/array.hpp"
#include "wpi/util/jni_util.hpp"
using namespace wpi::java;
using namespace wpi::util::java;
extern "C" {
@@ -25,13 +25,13 @@ Java_org_wpilib_math_jni_Ellipse2dJNI_nearest
jdoubleArray nearestPoint)
{
auto point =
frc::Ellipse2d{
frc::Pose2d{units::meter_t{centerX}, units::meter_t{centerY},
units::radian_t{centerHeading}},
units::meter_t{xSemiAxis}, units::meter_t{ySemiAxis}}
.Nearest({units::meter_t{pointX}, units::meter_t{pointY}});
wpi::math::Ellipse2d{
wpi::math::Pose2d{wpi::units::meter_t{centerX}, wpi::units::meter_t{centerY},
wpi::units::radian_t{centerHeading}},
wpi::units::meter_t{xSemiAxis}, wpi::units::meter_t{ySemiAxis}}
.Nearest({wpi::units::meter_t{pointX}, wpi::units::meter_t{pointY}});
wpi::array buf{point.X().value(), point.Y().value()};
wpi::util::array buf{point.X().value(), point.Y().value()};
env->SetDoubleArrayRegion(nearestPoint, 0, 2, buf.data());
}

2
wpimath/src/main/native/cpp/jni/Exceptions.cpp
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@@ -6,7 +6,7 @@
#include <jni.h>
using namespace wpi::java;
using namespace wpi::util::java;
//
// Globals and load/unload

6
wpimath/src/main/native/cpp/jni/Exceptions.hpp
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@@ -6,6 +6,6 @@
#include "wpi/util/jni_util.hpp"
extern wpi::java::JException illegalArgEx;
extern wpi::java::JException ioEx;
extern wpi::java::JException trajectorySerializationEx;
extern wpi::util::java::JException illegalArgEx;
extern wpi::util::java::JException ioEx;
extern wpi::util::java::JException trajectorySerializationEx;

4
wpimath/src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
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@@ -10,7 +10,7 @@
#include "wpi/math/util/StateSpaceUtil.hpp"
#include "wpi/util/jni_util.hpp"
using namespace wpi::java;
using namespace wpi::util::java;
extern "C" {
@@ -36,7 +36,7 @@ Java_org_wpilib_math_jni_StateSpaceUtilJNI_isStabilizable
B{nativeB.data(), states, inputs};
bool isStabilizable =
frc::IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(A, B);
wpi::math::IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(A, B);
return isStabilizable;
}

10
wpimath/src/main/native/cpp/jni/Transform3dJNI.cpp
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@@ -13,7 +13,7 @@
#include "wpi/units/length.hpp"
#include "wpi/util/jni_util.hpp"
using namespace wpi::java;
using namespace wpi::util::java;
extern "C" {
@@ -27,11 +27,11 @@ Java_org_wpilib_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}}};
wpi::math::Transform3d transform3d{
wpi::units::meter_t{relX}, wpi::units::meter_t{relY}, wpi::units::meter_t{relZ},
wpi::math::Rotation3d{wpi::math::Quaternion{relQw, relQx, relQy, relQz}}};
frc::Twist3d result = transform3d.Log();
wpi::math::Twist3d result = transform3d.Log();
return MakeJDoubleArray(
env, {{result.dx.value(), result.dy.value(), result.dz.value(),

10
wpimath/src/main/native/cpp/jni/Twist3dJNI.cpp
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@@ -11,7 +11,7 @@
#include "wpi/units/length.hpp"
#include "wpi/util/jni_util.hpp"
using namespace wpi::java;
using namespace wpi::util::java;
extern "C" {
@@ -25,11 +25,11 @@ Java_org_wpilib_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}};
wpi::math::Twist3d twist{wpi::units::meter_t{twistDx}, wpi::units::meter_t{twistDy},
wpi::units::meter_t{twistDz}, wpi::units::radian_t{twistRx},
wpi::units::radian_t{twistRy}, wpi::units::radian_t{twistRz}};
frc::Transform3d result = twist.Exp();
wpi::math::Transform3d result = twist.Exp();
const auto& resultQuaternion = result.Rotation().GetQuaternion();
return MakeJDoubleArray(