[wpimath] Add remaining struct and protobuf implementations

docs/build.gradle

@@ -221,12 +221,17 @@ task generateJavaDocs(type: Javadoc) {
             "-edu.wpi.first.hal.simulation," +
             // TODO: ^ Document these, then remove them from the list
             "-edu.wpi.first.math.proto," +
+            "-edu.wpi.first.math.struct," +
             "-edu.wpi.first.math.controller.proto," +
             "-edu.wpi.first.math.controller.struct," +
             "-edu.wpi.first.math.geometry.proto," +
             "-edu.wpi.first.math.geometry.struct," +
             "-edu.wpi.first.math.kinematics.proto," +
             "-edu.wpi.first.math.kinematics.struct," +
+            "-edu.wpi.first.math.spline.proto," +
+            "-edu.wpi.first.math.spline.struct," +
+            "-edu.wpi.first.math.system.proto," +
+            "-edu.wpi.first.math.system.struct," +
             "-edu.wpi.first.math.system.plant.proto," +
             "-edu.wpi.first.math.system.plant.struct," +
             "-edu.wpi.first.math.trajectory.proto", true)

wpimath/CMakeLists.txt

@@ -139,6 +139,10 @@ target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
 target_compile_features(wpimath PUBLIC cxx_std_20)
 if(MSVC)
     target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
+    target_link_options(
+        wpimath
+        PRIVATE /DEF:$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/exports.def>
+    )
 endif()
 wpilib_target_warnings(wpimath)
 target_link_libraries(wpimath wpiutil)

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

@@ -6,6 +6,12 @@
 
 import edu.wpi.first.math.jni.EigenJNI;
 import edu.wpi.first.math.numbers.N1;
+import edu.wpi.first.math.proto.MatrixProto;
+import edu.wpi.first.math.struct.MatrixStruct;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 import org.ejml.MatrixDimensionException;
 import org.ejml.data.DMatrixRMaj;
@@ -24,7 +30,8 @@
  * @param <R> The number of rows in this matrix.
  * @param <C> The number of columns in this matrix.
  */
-public class Matrix<R extends Num, C extends Num> {
+public class Matrix<R extends Num, C extends Num>
+    implements ProtobufSerializable, StructSerializable {
   /** Storage for underlying EJML matrix. */
   protected final SimpleMatrix m_storage;
 
@@ -738,4 +745,32 @@ public boolean equals(Object other) {
   public int hashCode() {
     return Objects.hash(m_storage);
   }
+
+  /**
+   * Creates an implementation of the {@link Protobuf} interface for matrices.
+   *
+   * @param <R> The number of rows of the matrices this serializer processes.
+   * @param <C> The number of cols of the matrices this serializer processes.
+   * @param rows The number of rows of the matrices this serializer processes.
+   * @param cols The number of cols of the matrices this serializer processes.
+   * @return The protobuf implementation.
+   */
+  public static <R extends Num, C extends Num> MatrixProto<R, C> getProto(
+      Nat<R> rows, Nat<C> cols) {
+    return new MatrixProto<>(rows, cols);
+  }
+
+  /**
+   * Creates an implementation of the {@link Struct} interfaces for matrices.
+   *
+   * @param <R> The number of rows of the matrices this serializer processes.
+   * @param <C> The number of cols of the matrices this serializer processes.
+   * @param rows The number of rows of the matrices this serializer processes.
+   * @param cols The number of cols of the matrices this serializer processes.
+   * @return The struct implementation.
+   */
+  public static <R extends Num, C extends Num> MatrixStruct<R, C> getStruct(
+      Nat<R> rows, Nat<C> cols) {
+    return new MatrixStruct<>(rows, cols);
+  }
 }

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

@@ -6,6 +6,12 @@
 
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
+import edu.wpi.first.math.proto.VectorProto;
+import edu.wpi.first.math.struct.VectorStruct;
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.protobuf.ProtobufSerializable;
+import edu.wpi.first.util.struct.Struct;
+import edu.wpi.first.util.struct.StructSerializable;
 import java.util.Objects;
 import org.ejml.simple.SimpleMatrix;
 
@@ -16,7 +22,8 @@
  *
  * @param <R> The number of rows in this matrix.
  */
-public class Vector<R extends Num> extends Matrix<R, N1> {
+public class Vector<R extends Num> extends Matrix<R, N1>
+    implements ProtobufSerializable, StructSerializable {
   /**
    * Constructs an empty zero vector of the given dimensions.
    *
@@ -151,4 +158,26 @@ public static Vector<N3> cross(Vector<N3> a, Vector<N3> b) {
         a.get(2) * b.get(0) - a.get(0) * b.get(2),
         a.get(0) * b.get(1) - a.get(1) * b.get(0));
   }
+
+  /**
+   * Creates an implementation of the {@link Protobuf} interface for vectors.
+   *
+   * @param <R> The number of rows of the vectors this serializer processes.
+   * @param rows The number of rows of the vectors this serializer processes.
+   * @return The protobuf implementation.
+   */
+  public static final <R extends Num> VectorProto<R> getProto(Nat<R> rows) {
+    return new VectorProto<>(rows);
+  }
+
+  /**
+   * Creates an implementation of the {@link Struct} interface for vectors.
+   *
+   * @param <R> The number of rows of the vectors this serializer processes.
+   * @param rows The number of rows of the vectors this serializer processes.
+   * @return The struct implementation.
+   */
+  public static final <R extends Num> VectorStruct<R> getStruct(Nat<R> rows) {
+    return new VectorStruct<>(rows);
+  }
 }