[wpimath] Disambiguate wpimath JNI functions

Now, each collection of JNI functions has its own class.

wpimath/CMakeLists.txt

@@ -19,14 +19,14 @@ protobuf_generate_cpp(
 
 file(
     GLOB wpimath_jni_src
-    src/main/native/cpp/jni/WPIMathJNI_ArmFeedforward.cpp
-    src/main/native/cpp/jni/WPIMathJNI_DARE.cpp
-    src/main/native/cpp/jni/WPIMathJNI_Eigen.cpp
-    src/main/native/cpp/jni/WPIMathJNI_Ellipse2d.cpp
-    src/main/native/cpp/jni/WPIMathJNI_Exceptions.cpp
-    src/main/native/cpp/jni/WPIMathJNI_Pose3d.cpp
-    src/main/native/cpp/jni/WPIMathJNI_StateSpaceUtil.cpp
-    src/main/native/cpp/jni/WPIMathJNI_Trajectory.cpp
+    src/main/native/cpp/jni/ArmFeedforwardJNI.cpp
+    src/main/native/cpp/jni/DAREJNI.cpp
+    src/main/native/cpp/jni/EigenJNI.cpp
+    src/main/native/cpp/jni/Ellipse2dJNI.cpp
+    src/main/native/cpp/jni/Exceptions.cpp
+    src/main/native/cpp/jni/Pose3dJNI.cpp
+    src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
+    src/main/native/cpp/jni/TrajectoryUtilJNI.cpp
 )
 
 # Java bindings

wpimath/src/main/java/edu/wpi/first/math/DARE.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.math;
 
+import edu.wpi.first.math.jni.DAREJNI;
 import org.ejml.simple.SimpleMatrix;
 
 /** DARE solver utility functions. */
@@ -43,7 +44,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, States> da
       Matrix<States, States> Q,
       Matrix<Inputs, Inputs> R) {
     var S = new Matrix<States, States>(new SimpleMatrix(A.getNumRows(), A.getNumCols()));
-    WPIMathJNI.dareDetailABQR(
+    DAREJNI.dareDetailABQR(
         A.getStorage().getDDRM().getData(),
         B.getStorage().getDDRM().getData(),
         Q.getStorage().getDDRM().getData(),
@@ -121,7 +122,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, States> da
       Matrix<Inputs, Inputs> R,
       Matrix<States, Inputs> N) {
     var S = new Matrix<States, States>(new SimpleMatrix(A.getNumRows(), A.getNumCols()));
-    WPIMathJNI.dareDetailABQRN(
+    DAREJNI.dareDetailABQRN(
         A.getStorage().getDDRM().getData(),
         B.getStorage().getDDRM().getData(),
         Q.getStorage().getDDRM().getData(),
@@ -156,7 +157,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, States> da
       Matrix<States, States> Q,
       Matrix<Inputs, Inputs> R) {
     var S = new Matrix<States, States>(new SimpleMatrix(A.getNumRows(), A.getNumCols()));
-    WPIMathJNI.dareABQR(
+    DAREJNI.dareABQR(
         A.getStorage().getDDRM().getData(),
         B.getStorage().getDDRM().getData(),
         Q.getStorage().getDDRM().getData(),
@@ -226,7 +227,7 @@ public static <States extends Num, Inputs extends Num> Matrix<States, States> da
       Matrix<Inputs, Inputs> R,
       Matrix<States, Inputs> N) {
     var S = new Matrix<States, States>(new SimpleMatrix(A.getNumRows(), A.getNumCols()));
-    WPIMathJNI.dareABQRN(
+    DAREJNI.dareABQRN(
         A.getStorage().getDDRM().getData(),
         B.getStorage().getDDRM().getData(),
         Q.getStorage().getDDRM().getData(),

wpimath/src/main/java/edu/wpi/first/math/Matrix.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.math;
 
+import edu.wpi.first.math.jni.EigenJNI;
 import edu.wpi.first.math.numbers.N1;
 import java.util.Objects;
 import org.ejml.MatrixDimensionException;
@@ -360,7 +361,7 @@ public final <C2 extends Num> Matrix<C, C2> solve(Matrix<R, C2> b) {
   public final <R2 extends Num, C2 extends Num> Matrix<C, C2> solveFullPivHouseholderQr(
       Matrix<R2, C2> other) {
     Matrix<C, C2> solution = new Matrix<>(new SimpleMatrix(this.getNumCols(), other.getNumCols()));
-    WPIMathJNI.solveFullPivHouseholderQr(
+    EigenJNI.solveFullPivHouseholderQr(
         this.getData(),
         this.getNumRows(),
         this.getNumCols(),
@@ -387,7 +388,7 @@ public final Matrix<R, C> exp() {
               + this.getNumCols());
     }
     Matrix<R, C> toReturn = new Matrix<>(new SimpleMatrix(this.getNumRows(), this.getNumCols()));
-    WPIMathJNI.exp(
+    EigenJNI.exp(
         this.m_storage.getDDRM().getData(),
         this.getNumRows(),
         toReturn.m_storage.getDDRM().getData());
@@ -411,7 +412,7 @@ public final Matrix<R, C> pow(double exponent) {
               + this.getNumCols());
     }
     Matrix<R, C> toReturn = new Matrix<>(new SimpleMatrix(this.getNumRows(), this.getNumCols()));
-    WPIMathJNI.pow(
+    EigenJNI.pow(
         this.m_storage.getDDRM().getData(),
         this.getNumRows(),
         exponent,
@@ -709,7 +710,7 @@ public boolean isEqual(Matrix<?, ?> other, double tolerance) {
    * @param lowerTriangular Whether this matrix is lower triangular.
    */
   public void rankUpdate(Matrix<R, N1> v, double sigma, boolean lowerTriangular) {
-    WPIMathJNI.rankUpdate(this.getData(), this.getNumRows(), v.getData(), sigma, lowerTriangular);
+    EigenJNI.rankUpdate(this.getData(), this.getNumRows(), v.getData(), sigma, lowerTriangular);
   }
 
   @Override

wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math;
 
 import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.jni.StateSpaceUtilJNI;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.math.numbers.N4;
@@ -102,7 +103,8 @@ public static <Elements extends Num> Matrix<Elements, Elements> makeCostMatrix(
    */
   public static <States extends Num, Inputs extends Num> boolean isStabilizable(
       Matrix<States, States> A, Matrix<States, Inputs> B) {
-    return WPIMathJNI.isStabilizable(A.getNumRows(), B.getNumCols(), A.getData(), B.getData());
+    return StateSpaceUtilJNI.isStabilizable(
+        A.getNumRows(), B.getNumCols(), A.getData(), B.getData());
   }
 
   /**
@@ -120,7 +122,7 @@ public static <States extends Num, Inputs extends Num> boolean isStabilizable(
    */
   public static <States extends Num, Outputs extends Num> boolean isDetectable(
       Matrix<States, States> A, Matrix<Outputs, States> C) {
-    return WPIMathJNI.isStabilizable(
+    return StateSpaceUtilJNI.isStabilizable(
         A.getNumRows(), C.getNumRows(), A.transpose().getData(), C.transpose().getData());
   }