mirror of
https://github.com/wpilibsuite/allwpilib
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45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <jni.h>
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#include <Eigen/Core>
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#include <wpi/jni_util.h>
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#include "edu_wpi_first_math_WPIMathJNI.h"
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#include "frc/StateSpaceUtil.h"
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using namespace wpi::java;
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extern "C" {
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/*
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* Class: edu_wpi_first_math_WPIMathJNI
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* Method: isStabilizable
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* Signature: (II[D[D)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_math_WPIMathJNI_isStabilizable
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(JNIEnv* env, jclass, jint states, jint inputs, jdoubleArray aSrc,
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jdoubleArray bSrc)
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{
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JSpan<const jdouble> nativeA{env, aSrc};
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JSpan<const jdouble> nativeB{env, bSrc};
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Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic,
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Eigen::RowMajor>>
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A{nativeA.data(), states, states};
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Eigen::Map<const Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic,
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Eigen::RowMajor>>
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B{nativeB.data(), states, inputs};
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bool isStabilizable =
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frc::IsStabilizable<Eigen::Dynamic, Eigen::Dynamic>(A, B);
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return isStabilizable;
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}
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} // extern "C"
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