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[wpimath] Remove duplicate WPIMathJNI class (#2639)

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This commit is contained in:
Matt
2020-08-16 17:16:53 -07:00
committed by GitHub
parent dc9e560f9b
commit ef5e0c2e75
6 changed files with 33 additions and 84 deletions
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24
wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java
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@@ -65,6 +65,30 @@ public final class WPIMathJNI {
int inputs,
double[] S);
/**
* Computes the matrix exp.
*
* @param src Array of elements of the matrix to be exponentiated.
* @param rows how many rows there are.
* @param dst Array where the result will be stored.
*/
public static native void exp(double[] src, int rows, double[] dst);
/**
* Returns true if (A, B) is a stabilizable pair.
*
* <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if
* any, have absolute values less than one, where an eigenvalue is
* uncontrollable if rank(lambda * I - A, B) &lt; n where n is number of states.
*
* @param states the number of states of the system.
* @param inputs the number of inputs to the system.
* @param A System matrix.
* @param B Input matrix.
* @return If the system is stabilizable.
*/
public static native boolean isStabilizable(int states, int inputs, double[] A, double[] B);
public static class Helper {
private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);

2
wpimath/src/main/java/edu/wpi/first/wpilibj/math/StateSpaceUtil.java
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@@ -11,13 +11,13 @@ import java.util.Random;
import org.ejml.simple.SimpleMatrix;
import edu.wpi.first.math.WPIMathJNI;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpiutil.math.MathUtil;
import edu.wpi.first.wpiutil.math.Matrix;
import edu.wpi.first.wpiutil.math.Nat;
import edu.wpi.first.wpiutil.math.Num;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.WPIMathJNI;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N3;

2
wpimath/src/main/java/edu/wpi/first/wpiutil/math/Matrix.java
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@@ -9,6 +9,7 @@ package edu.wpi.first.wpiutil.math;
import java.util.Objects;
import org.ejml.MatrixDimensionException;
import org.ejml.data.DMatrixRMaj;
import org.ejml.dense.row.CommonOps_DDRM;
@@ -18,6 +19,7 @@ import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
import org.ejml.interfaces.decomposition.CholeskyDecomposition_F64;
import org.ejml.simple.SimpleMatrix;
import edu.wpi.first.math.WPIMathJNI;
import edu.wpi.first.wpiutil.math.numbers.N1;
/**

2
wpimath/src/main/java/edu/wpi/first/wpiutil/math/SimpleMatrixUtils.java
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@@ -16,6 +16,8 @@ import org.ejml.interfaces.decomposition.CholeskyDecomposition_F64;
import org.ejml.simple.SimpleBase;
import org.ejml.simple.SimpleMatrix;
import edu.wpi.first.math.WPIMathJNI;
@SuppressWarnings("PMD.TooManyMethods")
public final class SimpleMatrixUtils {
private SimpleMatrixUtils() {

79
wpimath/src/main/java/edu/wpi/first/wpiutil/math/WPIMathJNI.java
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@@ -1,79 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 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.wpiutil.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;
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);
}
}
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.
*/
public static synchronized void forceLoad() throws IOException {
if (libraryLoaded) {
return;
}
loader = new RuntimeLoader<>("wpiutiljni", RuntimeLoader.getDefaultExtractionRoot(), WPIMathJNI.class);
loader.loadLibrary();
libraryLoaded = true;
}
/**
* Computes the matrix exp.
*
* @param src Array of elements of the matrix to be exponentiated.
* @param rows how many rows there are.
* @param dst Array where the result will be stored.
*/
public static native void exp(double[] src, int rows, double[] dst);
/**
* Returns true if (A, B) is a stabilizable pair.
*
* <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if
* any, have absolute values less than one, where an eigenvalue is
* uncontrollable if rank(lambda * I - A, B) &lt; n where n is number of states.
*
* @param states the number of states of the system.
* @param inputs the number of inputs to the system.
* @param A System matrix.
* @param B Input matrix.
* @return If the system is stabilizable.
*/
public static native boolean isStabilizable(int states, int inputs, double[] A, double[] B);
}

8
wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
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@@ -85,12 +85,12 @@ Java_edu_wpi_first_math_WPIMathJNI_discreteAlgebraicRiccatiEquation
}
/*
* Class: edu_wpi_first_wpiutil_math_WPIMathJNI
* Class: edu_wpi_first_math_WPIMathJNI
* Method: exp
* Signature: ([DI[D)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_wpiutil_math_WPIMathJNI_exp
Java_edu_wpi_first_math_WPIMathJNI_exp
(JNIEnv* env, jclass, jdoubleArray src, jint rows, jdoubleArray dst)
{
jdouble* arrayBody = env->GetDoubleArrayElements(src, nullptr);
@@ -106,12 +106,12 @@ Java_edu_wpi_first_wpiutil_math_WPIMathJNI_exp
}
/*
* Class: edu_wpi_first_wpiutil_math_WPIMathJNI
* Class: edu_wpi_first_math_WPIMathJNI
* Method: isStabilizable
* Signature: (II[D[D)Z
*/
JNIEXPORT jboolean JNICALL
Java_edu_wpi_first_wpiutil_math_WPIMathJNI_isStabilizable
Java_edu_wpi_first_math_WPIMathJNI_isStabilizable
(JNIEnv* env, jclass, jint states, jint inputs, jdoubleArray aSrc,
jdoubleArray bSrc)
{