Finish 0.2

README.md

@@ -52,9 +52,13 @@ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
 
-## Compiling Native Code (Compile for Mac and Win!)
+## Compiling Native Code
 
-To speed up the estimation the filter uses some native c++ code to perform the EKF specific matrix operations faster using Eigen. If it becomes necessary to modify / recompile these libraries follow the instructions here. To compile the c++ library on Ubuntu (assuming you are inside the ekf repository folder):
+To speed up the estimation the filter uses some native c++ code to perform the EKF specific matrix operations faster using Eigen. If it becomes necessary to modify / recompile these libraries follow the instructions here.
+
+### Ubuntu
+
+To compile the c++ library on Ubuntu (assuming you are inside the ekf repository folder):
 
 `cd nativeEKF`
 `mkdir build`
@@ -66,10 +70,29 @@ The dependencies for compiling are
  - Java
  - Eigen3
 
+### Changing the Native Code under Ubuntu
+
 If you need to modify or extend the functionality of the native libraries and you need to modify the java class `NativeFilterMatrixOpsWrapper` you will need to regenerate the header file by running the command
 
 `javac -h nativeEKF/ src/main/java/us/ihmc/ekf/filter/NativeFilterMatrixOpsWrapper.java`
 
 Then modify the c++ source files to reflect your changes and recompile.
 
+### Windows
+
+This tutorial assumes a fresh Windows 10 install and was tested in a virtual machine.
+
+Install [Visual Studio 2017 Community](https://visualstudio.microsoft.com/downloads/) and in the installer select "Desktop development with C++".
+
+Install [Java](https://www.oracle.com/technetwork/java/javase/downloads/jdk8-downloads-2133151.html), then open the Advanced System Settings and
+select the button "Environment Variables...". In the new Window create a new System variable `JAVA_HOME` and select the jdk directory e.g.
+`C:\Program Files\Java\jdk1.8.0_191`.
+
+Download [Eigen](http://eigen.tuxfamily.org/index.php?title=Main_Page#Download) and extract the folder. Rename the folder containing the sub-folder
+"cmake" and move it to `C:\Program Files`. Inside the folder (next to the folder "cmake" and others) create a folder "build".
+Run the "x64 Native Tools Command Prompt for VS 2017" and navigate into the build folder you created. The run the command `cmake ..`. This will
+configure Eigen so it can be found later and can be used to link against.
 
+Finally, in the project folder create a directory called "build". Run the "x64 Native Tools Command Prompt for VS 2017" to compile the project and
+navigate into the build folder you created.
+Then run the command `cmake -G "Visual Studio 15 2017 Win64" ..` followed by `cmake --build . --target install --config Release`.

build.gradle

@@ -1,37 +1,25 @@
-buildscript {
-   repositories {
-      maven { url "https://plugins.gradle.org/m2/" }
-      mavenLocal()
-   }
-   dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
-      classpath "us.ihmc:ihmc-ci-plugin:0.18.0"
-   }
+plugins {
+   id("us.ihmc.ihmc-build") version "0.15.4"
 }
-apply plugin: "us.ihmc.ihmc-build"
-apply plugin: "us.ihmc.ihmc-ci-plugin"
-
-sourceCompatibility = 1.8
 
 ihmc {
    group = "us.ihmc"
-   version = "0.1.0"
+   version = "0.2.0"
    openSource = true
+
    configureDependencyResolution()
    configurePublications()
 }
 
 mainDependencies {
     compile group: "com.google.guava", name: "guava", version: "18.0"
-
     compile group: "org.ejml", name: "dense64", version: "0.30"
     compile group: "org.ejml", name: "core", version: "0.30"
-
-    compile group: "us.ihmc", name: "euclid", version: "0.8.2"
-    compile group: "us.ihmc", name: "mecano", version: "0.0.11"
+    compile group: "us.ihmc", name: "euclid", version: "0.10.0"
+    compile group: "us.ihmc", name: "mecano", version: "0.0.13"
     compile group: "us.ihmc", name: "ihmc-commons", version: "0.24.0"
     compile group: "us.ihmc", name: "IHMCNativeLibraryLoader", version: "1.0"
-    compile group: "us.ihmc", name: "ihmc-yovariables", version: "0.3.5"
+    compile group: "us.ihmc", name: "ihmc-yovariables", version: "0.3.6"
 }
 
 testDependencies {
@@ -43,5 +31,5 @@ testDependencies {
 visualizersDependencies {
     compile ihmc.sourceSetProject("main")
 
-    compile group: "us.ihmc", name: "simulation-construction-set", version: "0.12.6"
+    compile group: "us.ihmc", name: "simulation-construction-set", version: "0.12.7"
 }

gradle.properties

@@ -2,5 +2,5 @@ kebabCasedName = ekf
 pascalCasedName = EKF
 extraSourceSets = ["test", "visualizers"]
 publishUrl = local
-compositeSearchHeight = 1
+compositeSearchHeight = 0
 excludeFromCompositeBuild = false

nativeEKF/CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 2.8)
 project(NativeFilterMatrixOps)
 
 find_package(JNI REQUIRED)
-find_package(Eigen3 3.3 REQUIRED)
+find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 
 include_directories(${JNI_INCLUDE_DIRS})
 
@@ -14,4 +14,6 @@ set(SOURCE_FILES NativeFilterMatrixOps.cpp)
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/../src/main/resources)
 
 add_library(NativeFilterMatrixOps SHARED ${SOURCE_FILES})
-target_link_libraries (NativeFilterMatrixOps Eigen3::Eigen)
+target_link_libraries (NativeFilterMatrixOps Eigen3::Eigen)
+
+install(TARGETS NativeFilterMatrixOps RUNTIME DESTINATION ${PROJECT_SOURCE_DIR}/../src/main/resources LIBRARY DESTINATION ${PROJECT_SOURCE_DIR}/../src/main/resources)

nativeEKF/NativeFilterMatrixOps.cpp

@@ -25,8 +25,8 @@ JNIEXPORT void JNICALL Java_us_ihmc_ekf_filter_NativeFilterMatrixOpsWrapper_comp
 	Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(resultDataArray, n, n) = ABAt;
 	env->SetDoubleArrayRegion(result, 0, n * n, resultDataArray);
 
-	delete aDataArray;
-	delete bDataArray;
+	env->ReleaseDoubleArrayElements(aData, aDataArray, 0);
+	env->ReleaseDoubleArrayElements(bData, bDataArray, 0);
 	delete resultDataArray;
 }
 
@@ -47,9 +47,9 @@ JNIEXPORT void JNICALL Java_us_ihmc_ekf_filter_NativeFilterMatrixOpsWrapper_pred
 	Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(resultDataArray, n, n) = errorCovariance;
 	env->SetDoubleArrayRegion(result, 0, n * n, resultDataArray);
 
-	delete fDataArray;
-	delete pDataArray;
-	delete qDataArray;
+	env->ReleaseDoubleArrayElements(fData, fDataArray, 0);
+	env->ReleaseDoubleArrayElements(pData, pDataArray, 0);
+	env->ReleaseDoubleArrayElements(qData, qDataArray, 0);
 	delete resultDataArray;
 }
 
@@ -69,9 +69,9 @@ JNIEXPORT void JNICALL Java_us_ihmc_ekf_filter_NativeFilterMatrixOpsWrapper_upda
 	Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(resultDataArray, m, m) = errorCovariance;
 	env->SetDoubleArrayRegion(result, 0, m * m, resultDataArray);
 
-	delete kDataArray;
-	delete hDataArray;
-	delete pDataArray;
+	env->ReleaseDoubleArrayElements(kData, kDataArray, 0);
+	env->ReleaseDoubleArrayElements(hData, hDataArray, 0);
+	env->ReleaseDoubleArrayElements(pData, pDataArray, 0);
 	delete resultDataArray;
 }
 
@@ -94,9 +94,9 @@ JNIEXPORT void JNICALL Java_us_ihmc_ekf_filter_NativeFilterMatrixOpsWrapper_comp
 	Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(resultDataArray, m, n) = kalmanGain;
 	env->SetDoubleArrayRegion(result, 0, m * n, resultDataArray);
 
-	delete pDataArray;
-	delete hDataArray;
-	delete rDataArray;
+	env->ReleaseDoubleArrayElements(pData, pDataArray, 0);
+	env->ReleaseDoubleArrayElements(hData, hDataArray, 0);
+	env->ReleaseDoubleArrayElements(rData, rDataArray, 0);
 	delete resultDataArray;
 }
 
@@ -116,8 +116,8 @@ JNIEXPORT void JNICALL Java_us_ihmc_ekf_filter_NativeFilterMatrixOpsWrapper_upda
 	Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>>(resultDataArray, n, 1) = state;
 	env->SetDoubleArrayRegion(result, 0, n, resultDataArray);
 
-	delete xDataArray;
-	delete kDataArray;
-	delete rDataArray;
+	env->ReleaseDoubleArrayElements(xData, xDataArray, 0);
+	env->ReleaseDoubleArrayElements(kData, kDataArray, 0);
+	env->ReleaseDoubleArrayElements(rData, rDataArray, 0);
 	delete resultDataArray;
 }

settings.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.15.1"
+      classpath "us.ihmc:ihmc-build:0.15.4"
    }
 }