started trying to fix installation of the jni by changing the cmake t…

…o a less complex structure

external-control/CMakeLists.txt

@@ -3,10 +3,9 @@ set(CMAKE_CXX_STANDARD 17)
 
 project(external-control CXX)
 
-set(INSTALL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/lib" CACHE PATH "Installation directory for libraries")
-set(INSTALL_INC_DIR "${CMAKE_INSTALL_PREFIX}/include" CACHE PATH "Installation directory for headers")
+#set(INSTALL_LIB_DIR "lib" CACHE PATH "Installation directory for libraries")
+#set(INSTALL_INC_DIR "include" CACHE PATH "Installation directory for headers")
 
-find_package(Catch2 2 REQUIRED)
 find_package(Eigen3 REQUIRED)
 include_directories(${EIGEN3_INCLUDE_DIR})
 
@@ -26,11 +25,8 @@ target_link_libraries(external-wrapper PUBLIC
         Eigen3::Eigen)
 
 install(TARGETS external-wrapper
-        EXPORT targets
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin)
-install(DIRECTORY
-        src/main/cpp/
-        DESTINATION "${INSTALL_INC_DIR}"
-        FILES_MATCHING PATTERN "*.hpp")
+    RUNTIME DESTINATION bin
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+    INCLUDES DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_PREFIX}/include FILES_MATCHING PATTERN "*.hpp")

external-control/src/main/cpp/controllers/constant-position-controller.cpp

@@ -7,10 +7,10 @@ namespace ihmc
     ConstantPositionController::ConstantPositionController(const double default_stiffness, const double default_damping, const int number_of_joints)
     {
         number_of_joints_ = number_of_joints;
-        desired_joint_velocities_ = Eigen::VectorXd(number_of_joints_);
-        desired_joint_torques_ = Eigen::VectorXd(number_of_joints_);
-        desired_joint_stiffnesses_ = Eigen::VectorXd(number_of_joints_);
-        desired_joint_damping_ = Eigen::VectorXd(number_of_joints_);
+        desired_joint_velocities_.resize(number_of_joints_);
+        desired_joint_torques_.resize(number_of_joints_);
+        desired_joint_stiffnesses_.resize(number_of_joints_);
+        desired_joint_damping_.resize(number_of_joints_);
 
         desired_joint_velocities_.setZero();
         desired_joint_torques_.setZero();

external-control/src/main/cpp/external-control.cpp

@@ -8,10 +8,10 @@ namespace ihmc
     ExternalControlImpl::ExternalControlImpl(const double default_stiffness, const double default_damping, const int number_of_joints)
     {
         constant_position_controller_ = ConstantPositionController(default_stiffness, default_damping, number_of_joints);
-        desired_state_data_ = Eigen::VectorXd(13 + 2 * number_of_joints);
-        desired_control_data_ = Eigen::VectorXd(number_of_joints);
-        p_gains_ = Eigen::VectorXd(number_of_joints);
-        d_gains_ = Eigen::VectorXd(number_of_joints);
+        desired_state_data_.resize(13 + 2 * number_of_joints);
+        desired_control_data_.resize(number_of_joints);
+        p_gains_.resize(number_of_joints);
+        d_gains_.resize(number_of_joints);
         number_of_joints_ = number_of_joints;
     }
 

external-control/src/main/java/us/ihmc/externalControl/ExternalControllerState.java

@@ -53,6 +53,8 @@ public ExternalControllerState(String namePrefix,
 
       blendRatioCurrentValue = new YoDouble(namePrefix + "BlendRatioCurrentValue", registry);
 
+      ExternalWrapperNativeLibrary.load();
+
       externalControl = new ExternalControl(controllerToolbox.getFullRobotModel().getRootBody(), controlledJoints, 100.0, 25.0);
 
       lowLevelOneDoFJointDesiredDataHolder.registerJointsWithEmptyData(controlledJoints);

external-control/src/main/java/us/ihmc/externalControl/ExternalWrapperNativeLibrary.java

@@ -0,0 +1,53 @@
+package us.ihmc.externalControl;
+
+import us.ihmc.log.LogTools;
+import us.ihmc.tools.nativelibraries.NativeLibraryDescription;
+import us.ihmc.tools.nativelibraries.NativeLibraryLoader;
+import us.ihmc.tools.nativelibraries.NativeLibraryWithDependencies;
+
+public class ExternalWrapperNativeLibrary implements NativeLibraryDescription
+{
+   @Override
+   public String getPackage(OperatingSystem operatingSystem, Architecture architecture)
+   {
+      String architecturePackage = "";
+      if (architecture == Architecture.x64)
+      {
+         architecturePackage = switch (operatingSystem)
+         {
+            case LINUX64 -> "linux-x86_64";
+            default -> "unknown";
+         };
+      }
+
+      return "externalWrapper." + architecturePackage;
+   }
+
+   @Override
+   public NativeLibraryWithDependencies getLibraryWithDependencies(OperatingSystem operatingSystem, Architecture architecture)
+   {
+      switch (operatingSystem)
+      {
+         case LINUX64:
+            return NativeLibraryWithDependencies.fromFilename("jniExternalWrapper.so",
+                                                              "libexternal-wrapper.so");
+         default:
+            break;
+      }
+
+      LogTools.warn("Unsupported platform: " + operatingSystem.name() + "-" + architecture.name());
+      return null;
+   }
+
+   private static boolean loaded = false;
+
+   public static boolean load()
+   {
+      if (!loaded)
+      {
+         ExternalWrapperNativeLibrary nativeLibrary = new ExternalWrapperNativeLibrary();
+         loaded = NativeLibraryLoader.loadLibrary(nativeLibrary);
+      }
+      return loaded;
+   }
+}

external-control/src/main/java/us/ihmc/externalControl/presets/ExternalControlInfoMapper.java

@@ -13,7 +13,7 @@
                 include = {"external-control.hpp"},
                 linkpath = "../lib",
                 link = "external-wrapper",
-                preload = {"external-wrapper", "jniExternalWrapper"}
+                preload = {"external-wrapper", "jniExternalControlWrapper"}
       ),
       target = "us.ihmc.externalControl.ExternalControlWrapper"
 )