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[wpimath] Add extern templates for common cases

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This helps reduce compile times and memory usage.
This commit is contained in:
Peter Johnson
2022-04-29 16:56:03 -07:00
parent 7200c4951d
commit e3d62c22d3
8 changed files with 68 additions and 0 deletions
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12
wpimath/src/main/native/cpp/estimator/SwerveDrivePoseEstimator.cpp Normal file
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// 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 "frc/estimator/SwerveDrivePoseEstimator.h"
namespace frc {
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
SwerveDrivePoseEstimator<4>;
} // namespace frc

14
wpimath/src/main/native/cpp/estimator/UnscentedKalmanFilter.cpp Normal file
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// 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 "frc/estimator/UnscentedKalmanFilter.h"
namespace frc {
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
UnscentedKalmanFilter<3, 3, 1>;
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
UnscentedKalmanFilter<5, 3, 3>;
} // namespace frc

12
wpimath/src/main/native/cpp/kinematics/SwerveDriveKinematics.cpp Normal file
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// 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 "frc/kinematics/SwerveDriveKinematics.h"
namespace frc {
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT)
SwerveDriveKinematics<4>;
} // namespace frc

11
wpimath/src/main/native/cpp/kinematics/SwerveDriveOdometry.cpp Normal file
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// 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 "frc/kinematics/SwerveDriveOdometry.h"
namespace frc {
template class EXPORT_TEMPLATE_DEFINE(WPILIB_DLLEXPORT) SwerveDriveOdometry<4>;
} // namespace frc