[wpimath] Split WPIMathJNI into logical chunks

This makes things easier to find, and speeds up compilation.

wpimath/CMakeLists.txt

@@ -4,7 +4,12 @@ include(SubDirList)
 include(CompileWarnings)
 include(AddTest)
 
-file(GLOB wpimath_jni_src src/main/native/cpp/jni/WPIMathJNI.cpp)
+file(GLOB wpimath_jni_src src/main/native/cpp/jni/WPIMathJNI_DARE.cpp
+                          src/main/native/cpp/jni/WPIMathJNI_Eigen.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)
 
 # Java bindings
 if (WITH_JAVA)

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

@@ -43,6 +43,8 @@ public static synchronized void forceLoad() throws IOException {
     libraryLoaded = true;
   }
 
+  // DARE wrappers
+
   /**
    * Computes the unique stabilizing solution X to the discrete-time algebraic Riccati equation.
    *
@@ -208,6 +210,8 @@ public static native void dareABQRN(
       int inputs,
       double[] S);
 
+  // Eigen wrappers
+
   /**
    * Computes the matrix exp.
    *
@@ -227,6 +231,35 @@ public static native void dareABQRN(
    */
   public static native void pow(double[] src, int rows, double exponent, double[] dst);
 
+  /**
+   * Performs an inplace rank one update (or downdate) of an upper triangular Cholesky decomposition
+   * matrix.
+   *
+   * @param mat Array of elements of the matrix to be updated.
+   * @param lowerTriangular Whether mat is lower triangular.
+   * @param rows How many rows there are.
+   * @param vec Vector to use for the rank update.
+   * @param sigma Sigma value to use for the rank update.
+   */
+  public static native void rankUpdate(
+      double[] mat, int rows, double[] vec, double sigma, boolean lowerTriangular);
+
+  /**
+   * Solves the least-squares problem Ax=B using a QR decomposition with full pivoting.
+   *
+   * @param A Array of elements of the A matrix.
+   * @param Arows Number of rows of the A matrix.
+   * @param Acols Number of rows of the A matrix.
+   * @param B Array of elements of the B matrix.
+   * @param Brows Number of rows of the B matrix.
+   * @param Bcols Number of rows of the B matrix.
+   * @param dst Array to store solution in. If A is m-n and B is m-p, dst is n-p.
+   */
+  public static native void solveFullPivHouseholderQr(
+      double[] A, int Arows, int Acols, double[] B, int Brows, int Bcols, double[] dst);
+
+  // Pose3d wrappers
+
   /**
    * Obtain a Pose3d from a (constant curvature) velocity.
    *
@@ -299,6 +332,8 @@ public static native double[] logPose3d(
       double endQy,
       double endQz);
 
+  // StateSpaceUtil wrappers
+
   /**
    * Returns true if (A, B) is a stabilizable pair.
    *
@@ -314,6 +349,8 @@ public static native double[] logPose3d(
    */
   public static native boolean isStabilizable(int states, int inputs, double[] A, double[] B);
 
+  // Trajectory wrappers
+
   /**
    * Loads a Pathweaver JSON.
    *
@@ -348,19 +385,6 @@ public static native double[] logPose3d(
    */
   public static native String serializeTrajectory(double[] elements);
 
-  /**
-   * Performs an inplace rank one update (or downdate) of an upper triangular Cholesky decomposition
-   * matrix.
-   *
-   * @param mat Array of elements of the matrix to be updated.
-   * @param lowerTriangular Whether mat is lower triangular.
-   * @param rows How many rows there are.
-   * @param vec Vector to use for the rank update.
-   * @param sigma Sigma value to use for the rank update.
-   */
-  public static native void rankUpdate(
-      double[] mat, int rows, double[] vec, double sigma, boolean lowerTriangular);
-
   public static class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
@@ -372,18 +396,4 @@ public static void setExtractOnStaticLoad(boolean load) {
       extractOnStaticLoad.set(load);
     }
   }
-
-  /**
-   * Solves the least-squares problem Ax=B using a QR decomposition with full pivoting.
-   *
-   * @param A Array of elements of the A matrix.
-   * @param Arows Number of rows of the A matrix.
-   * @param Acols Number of rows of the A matrix.
-   * @param B Array of elements of the B matrix.
-   * @param Brows Number of rows of the B matrix.
-   * @param Bcols Number of rows of the B matrix.
-   * @param dst Array to store solution in. If A is m-n and B is m-p, dst is n-p.
-   */
-  public static native void solveFullPivHouseholderQr(
-      double[] A, int Arows, int Acols, double[] B, int Brows, int Bcols, double[] dst);
 }