java/src/trajpoly7.c

   1 #include "a.h"
   2 #include "a/trajpoly7.h"
   3 #include "liba_trajpoly7.h"
   4
   5 #undef L
   6 #define L Java_liba_trajpoly7
   7 static struct
   8 {
   9     jmethodID _new;
  10     jfieldID ctx;
  11 } L = {NULL, NULL};
  12
  13 JNIEXPORT void JNICALL Java_liba_trajpoly7_clinit(JNIEnv *_env, jclass _cls)
  14 {
  15     jclass _nbb = (*_env)->FindClass(_env, "Ljava/nio/ByteBuffer;");
  16     L._new = (*_env)->GetStaticMethodID(_env, _nbb, "allocateDirect", "(I)Ljava/nio/ByteBuffer;");
  17     L.ctx = (*_env)->GetFieldID(_env, _cls, "ctx", "Ljava/nio/ByteBuffer;");
  18 }
  19
  20 JNIEXPORT jobject JNICALL Java_liba_trajpoly7_gen(JNIEnv *_env, jobject _obj, jdouble ts, jdouble p0, jdouble p1, jdouble v0, jdouble v1, jdouble a0, jdouble a1, jdouble j0, jdouble j1)
  21 {
  22     jobject _ctx = (*_env)->CallObjectMethod(_env, _obj, L._new, (jint)sizeof(a_trajpoly7));
  23     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  24     (*_env)->SetObjectField(_env, _obj, L.ctx, _ctx);
  25     a_trajpoly7_gen(ctx, ts, p0, p1, v0, v1, a0, a1, j0, j1);
  26     return _obj;
  27 }
  28
  29 JNIEXPORT jobject JNICALL Java_liba_trajpoly7_p(JNIEnv *_env, jobject _obj)
  30 {
  31     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  32     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  33     jobject p = (*_env)->NewDoubleArray(_env, A_LEN(ctx->p));
  34     (*_env)->SetDoubleArrayRegion(_env, p, 0, A_LEN(ctx->p), ctx->p);
  35     return p;
  36 }
  37
  38 JNIEXPORT jobject JNICALL Java_liba_trajpoly7_v(JNIEnv *_env, jobject _obj)
  39 {
  40     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  41     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  42     jobject v = (*_env)->NewDoubleArray(_env, A_LEN(ctx->v));
  43     (*_env)->SetDoubleArrayRegion(_env, v, 0, A_LEN(ctx->v), ctx->v);
  44     return v;
  45 }
  46
  47 JNIEXPORT jobject JNICALL Java_liba_trajpoly7_a(JNIEnv *_env, jobject _obj)
  48 {
  49     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  50     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  51     jobject a = (*_env)->NewDoubleArray(_env, A_LEN(ctx->a));
  52     (*_env)->SetDoubleArrayRegion(_env, a, 0, A_LEN(ctx->a), ctx->a);
  53     return a;
  54 }
  55
  56 JNIEXPORT jobject JNICALL Java_liba_trajpoly7_j(JNIEnv *_env, jobject _obj)
  57 {
  58     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  59     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  60     jobject j = (*_env)->NewDoubleArray(_env, A_LEN(ctx->j));
  61     (*_env)->SetDoubleArrayRegion(_env, j, 0, A_LEN(ctx->j), ctx->j);
  62     return j;
  63 }
  64
  65 JNIEXPORT jdouble JNICALL Java_liba_trajpoly7_pos(JNIEnv *_env, jobject _obj, jdouble x)
  66 {
  67     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  68     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  69     return a_trajpoly7_pos(ctx, x);
  70 }
  71
  72 JNIEXPORT jdouble JNICALL Java_liba_trajpoly7_vel(JNIEnv *_env, jobject _obj, jdouble x)
  73 {
  74     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  75     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  76     return a_trajpoly7_vel(ctx, x);
  77 }
  78
  79 JNIEXPORT jdouble JNICALL Java_liba_trajpoly7_acc(JNIEnv *_env, jobject _obj, jdouble x)
  80 {
  81     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  82     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  83     return a_trajpoly7_acc(ctx, x);
  84 }
  85
  86 JNIEXPORT jdouble JNICALL Java_liba_trajpoly7_jer(JNIEnv *_env, jobject _obj, jdouble x)
  87 {
  88     jobject _ctx = (*_env)->GetObjectField(_env, _obj, L.ctx);
  89     a_trajpoly7 *ctx = (a_trajpoly7 *)(*_env)->GetDirectBufferAddress(_env, _ctx);
  90     return a_trajpoly7_jer(ctx, x);
  91 }