From d4bfe643d5ada0e753810be61e4967ffc0b2958b Mon Sep 17 00:00:00 2001 From: Gold856 <117957790+Gold856@users.noreply.github.com> Date: Thu, 19 Mar 2026 02:10:04 -0400 Subject: [PATCH] Clean up C++ headers (#2402) --- .../src/main/native/cpp/photon/PhotonCamera.cpp | 3 +-- .../native/cpp/photon/PhotonPoseEstimator.cpp | 1 - .../cpp/photon/simulation/PhotonCameraSim.cpp | 5 +++++ .../photon/simulation/SimCameraProperties.cpp | 2 ++ .../main/native/include/photon/PhotonCamera.h | 1 - .../native/include/photon/PhotonPoseEstimator.h | 2 +- .../native/include/photon/PhotonTargetSortMode.h | 4 ---- .../src/main/native/include/photon/PhotonUtils.h | 6 ------ .../include/photon/simulation/PhotonCameraSim.h | 8 -------- .../photon/simulation/SimCameraProperties.h | 3 --- .../include/photon/simulation/VideoSimUtil.h | 3 +-- .../test/native/cpp/PhotonPoseEstimatorTest.cpp | 1 - photon-lib/src/test/native/cpp/VersionTest.cpp | 5 ++--- .../src/test/native/cpp/VisionSystemSimTest.cpp | 3 +-- .../src/main/native/cpp/net/TimeSyncClient.cpp | 6 ------ .../src/main/native/cpp/net/TimeSyncServer.cpp | 8 ++------ .../constrained_solvepnp/wrap/casadi_wrapper.cpp | 15 ++++++--------- .../cpp/photon/estimation/VisionEstimation.cpp | 3 --- .../cpp/photon/targeting/PhotonTrackedTarget.cpp | 10 ---------- .../src/main/native/include/net/TimeSyncClient.h | 10 ---------- .../src/main/native/include/net/TimeSyncServer.h | 12 ------------ .../include/photon/dataflow/structures/Packet.h | 10 +++------- .../include/photon/estimation/OpenCVHelp.h | 1 - .../include/photon/networktables/NTTopicSet.h | 2 -- .../photon/targeting/MultiTargetPNPResult.h | 5 ----- .../photon/targeting/PhotonPipelineResult.h | 3 --- .../photon/targeting/PhotonTrackedTarget.h | 3 --- .../native/include/photon/targeting/PnpResult.h | 3 --- .../main/native/jni/ConstrainedSolvepnpJNI.cpp | 16 ---------------- .../src/main/native/jni/TimeSyncServerJNI.cpp | 2 -- .../src/test/native/cpp/CasadiWrapperTest.cpp | 16 ++++++---------- .../src/test/native/cpp/net/TimeSyncTest.cpp | 1 + .../aimandrange/src/main/cpp/Robot.cpp | 2 -- .../src/main/cpp/subsystems/SwerveDrive.cpp | 1 - .../src/main/cpp/subsystems/SwerveDriveSim.cpp | 2 -- .../src/main/cpp/subsystems/SwerveModule.cpp | 1 - .../aimattarget/src/main/cpp/Robot.cpp | 2 -- .../src/main/cpp/subsystems/SwerveDrive.cpp | 1 - .../src/main/cpp/subsystems/SwerveDriveSim.cpp | 2 -- .../src/main/cpp/subsystems/SwerveModule.cpp | 1 - .../poseest/src/main/cpp/Robot.cpp | 2 -- .../src/main/cpp/subsystems/SwerveDrive.cpp | 1 - .../src/main/cpp/subsystems/SwerveDriveSim.cpp | 2 -- .../src/main/cpp/subsystems/SwerveModule.cpp | 1 - shared/PhotonVersion.cpp.in | 1 - 45 files changed, 31 insertions(+), 161 deletions(-) diff --git a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp index adf87b8ee..1c4833c4b 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonCamera.cpp @@ -35,11 +35,10 @@ #include #include #include -#include +#include #include #include "PhotonVersion.h" -#include "opencv2/core/utility.hpp" #include "photon/dataflow/structures/Packet.h" static constexpr units::second_t WARN_DEBOUNCE_SEC = 5_s; diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp index 2e0b34a9b..b49a46219 100644 --- a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp +++ b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp @@ -26,7 +26,6 @@ #include #include -#include #include #include diff --git a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp index d9ff4f754..4d3660a05 100644 --- a/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp +++ b/photon-lib/src/main/native/cpp/photon/simulation/PhotonCameraSim.cpp @@ -32,6 +32,11 @@ #include #include +#include "photon/estimation/CameraTargetRelation.h" +#include "photon/estimation/RotTrlTransform3d.h" +#include "photon/estimation/VisionEstimation.h" +#include "photon/simulation/VideoSimUtil.h" + namespace photon { PhotonCameraSim::PhotonCameraSim(PhotonCamera* camera) : PhotonCameraSim(camera, photon::SimCameraProperties::PERFECT_90DEG(), diff --git a/photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp b/photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp index 1133a6089..2099bdd81 100644 --- a/photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp +++ b/photon-lib/src/main/native/cpp/photon/simulation/SimCameraProperties.cpp @@ -28,6 +28,8 @@ #include #include +#include + using namespace photon; void SimCameraProperties::SetCalibration(int width, int height, diff --git a/photon-lib/src/main/native/include/photon/PhotonCamera.h b/photon-lib/src/main/native/include/photon/PhotonCamera.h index 06a409577..6a0c2f8c4 100644 --- a/photon-lib/src/main/native/include/photon/PhotonCamera.h +++ b/photon-lib/src/main/native/include/photon/PhotonCamera.h @@ -31,7 +31,6 @@ #include #include #include -#include #include #include #include diff --git a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h index 8e3cc8ffc..d9d7bde51 100644 --- a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h +++ b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h @@ -29,7 +29,7 @@ #include #include #include -#include +#include #include "photon/PhotonCamera.h" #include "photon/targeting/PhotonPipelineResult.h" diff --git a/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h b/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h index b2a7b4f6d..6ad80c64a 100644 --- a/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h +++ b/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h @@ -26,11 +26,7 @@ #include -#include "photon/dataflow/structures/Packet.h" -#include "photon/targeting/MultiTargetPNPResult.h" -#include "photon/targeting/PhotonPipelineResult.h" #include "photon/targeting/PhotonTrackedTarget.h" -#include "photon/targeting/PnpResult.h" namespace photon { diff --git a/photon-lib/src/main/native/include/photon/PhotonUtils.h b/photon-lib/src/main/native/include/photon/PhotonUtils.h index 5ea28eb76..8561b3443 100644 --- a/photon-lib/src/main/native/include/photon/PhotonUtils.h +++ b/photon-lib/src/main/native/include/photon/PhotonUtils.h @@ -32,12 +32,6 @@ #include #include -#include "photon/dataflow/structures/Packet.h" -#include "photon/targeting/MultiTargetPNPResult.h" -#include "photon/targeting/PhotonPipelineResult.h" -#include "photon/targeting/PhotonTrackedTarget.h" -#include "photon/targeting/PnpResult.h" - namespace photon { class PhotonUtils { public: diff --git a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h index 955bda85a..d70d9f899 100644 --- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h +++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h @@ -24,23 +24,15 @@ #pragma once -#include #include -#include -#include #include #include -#include #include #include #include -#include -#include -#include #include #include -#include #include #include #include diff --git a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h index 17c4fdbad..4ca5d8d6a 100644 --- a/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h +++ b/photon-lib/src/main/native/include/photon/simulation/SimCameraProperties.h @@ -24,15 +24,12 @@ #pragma once -#include #include #include #include #include #include -#include -#include #include #include #include diff --git a/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h b/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h index b1a7d5074..b4c5c1a10 100644 --- a/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h +++ b/photon-lib/src/main/native/include/photon/simulation/VideoSimUtil.h @@ -38,8 +38,7 @@ #include #include -#include "SimCameraProperties.h" -#include "photon/estimation/RotTrlTransform3d.h" +#include "photon/simulation/SimCameraProperties.h" namespace mathutil { template diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp index 5d5caeade..de396a198 100644 --- a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp +++ b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp @@ -24,7 +24,6 @@ #include "photon/PhotonPoseEstimator.h" -#include #include #include diff --git a/photon-lib/src/test/native/cpp/VersionTest.cpp b/photon-lib/src/test/native/cpp/VersionTest.cpp index 9f4d7c08b..e29430bbb 100644 --- a/photon-lib/src/test/native/cpp/VersionTest.cpp +++ b/photon-lib/src/test/native/cpp/VersionTest.cpp @@ -22,12 +22,11 @@ * SOFTWARE. */ -#include - #include +#include #include "PhotonVersion.h" TEST(VersionTest, PrintVersion) { - std::cout << photon::PhotonVersion::versionString << std::endl; + wpi::println("{}", photon::PhotonVersion::versionString); } diff --git a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp index 621a660b4..abfbfd03b 100644 --- a/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp +++ b/photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp @@ -24,8 +24,6 @@ #include "photon/simulation/VisionSystemSim.h" -#include -#include #include #include @@ -33,6 +31,7 @@ #include #include "photon/PhotonUtils.h" +#include "photon/estimation/VisionEstimation.h" // Ignore GetLatestResult warnings WPI_IGNORE_DEPRECATED diff --git a/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp b/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp index 519e4cf11..15e4c343a 100644 --- a/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp +++ b/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp @@ -17,20 +17,14 @@ #include "net/TimeSyncClient.h" -#include #include #include -#include -#include -#include #include -#include #include #include #include #include -#include #include #include "ntcore_cpp.h" diff --git a/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp b/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp index c12c6ab30..4abd59ae3 100644 --- a/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp +++ b/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp @@ -17,22 +17,18 @@ #include "net/TimeSyncServer.h" -#include -#include #include #include #include -#include -#include -#include +#include #include #include #include #include #include -#include "ntcore_cpp.h" +#include "net/TimeSyncStructs.h" static void ServerLoggerFunc(unsigned int level, const char* file, unsigned int line, const char* msg) { diff --git a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp index ebe0ea589..a2bc3446e 100644 --- a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp +++ b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp @@ -17,11 +17,8 @@ #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h" -#include #include -#include #include -#include #include #include @@ -192,10 +189,10 @@ constrained_solvepnp::do_optimization( fmt::println("{} tags", nTags); // fmt::println("nstate {}", nState); - std::cout << "robot2camera:\n" << robot2camera << std::endl; - std::cout << "x guess:\n" << x_guess << std::endl; - std::cout << "field2pt:\n" << field2points << std::endl; - std::cout << "observations:\n" << point_observations << std::endl; + fmt::println("robot2camera:\n{}", robot2camera); + fmt::println("x guess:\n{}", x_guess); + fmt::println("field2pt:\n{}", field2points); + fmt::println("observations:\n{}", point_observations); fmt::println("---------^^^^^^^^---------"); } @@ -252,7 +249,7 @@ constrained_solvepnp::do_optimization( auto H_ldlt = H.ldlt(); if (H_ldlt.info() != Eigen::Success) { - std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl; + fmt::println(stderr, "LDLT decomp failed! H=\n{}", H); return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } @@ -276,7 +273,7 @@ constrained_solvepnp::do_optimization( H_ldlt = H_reg.ldlt(); if (H_ldlt.info() != Eigen::Success) { - std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl; + fmt::println(stderr, "LDLT decomp failed! H=\n{}", H); return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE}; } diff --git a/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp b/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp index 0ae99457b..4731e8f7c 100644 --- a/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp +++ b/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp @@ -17,13 +17,10 @@ #include "photon/estimation/VisionEstimation.h" -#include -#include #include #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h" #include "photon/estimation/OpenCVHelp.h" -#include "photon/targeting/MultiTargetPNPResult.h" namespace photon { namespace VisionEstimation { diff --git a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp index 636964c5c..e35b571ba 100644 --- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp +++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp @@ -17,14 +17,4 @@ #include "photon/targeting/PhotonTrackedTarget.h" -#include -#include -#include -#include - -#include -#include - -static constexpr const uint8_t MAX_CORNERS = 8; - namespace photon {} // namespace photon diff --git a/photon-targeting/src/main/native/include/net/TimeSyncClient.h b/photon-targeting/src/main/native/include/net/TimeSyncClient.h index 9bdaf2f26..7c3194a68 100644 --- a/photon-targeting/src/main/native/include/net/TimeSyncClient.h +++ b/photon-targeting/src/main/native/include/net/TimeSyncClient.h @@ -17,31 +17,21 @@ #pragma once -#include #include #include -#include -#include #include -#include #include #include #include -#include #include #include -#include -#include -#include #include -#include #include #include #include #include "TimeSyncStructs.h" -#include "ntcore_cpp.h" namespace wpi { namespace tsp { diff --git a/photon-targeting/src/main/native/include/net/TimeSyncServer.h b/photon-targeting/src/main/native/include/net/TimeSyncServer.h index 1b8f2a729..21f2a04a8 100644 --- a/photon-targeting/src/main/native/include/net/TimeSyncServer.h +++ b/photon-targeting/src/main/native/include/net/TimeSyncServer.h @@ -17,30 +17,18 @@ #pragma once -#include -#include #include #include #include #include -#include #include -#include -#include #include #include -#include -#include #include -#include #include -#include #include -#include "TimeSyncStructs.h" -#include "ntcore_cpp.h" - namespace wpi { namespace tsp { diff --git a/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h b/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h index b36a81815..0563ebd38 100644 --- a/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h +++ b/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h @@ -17,17 +17,13 @@ #pragma once -#include -#include -#include -#include +#include +#include #include #include -#include +#include #include -#include -#include #include namespace photon { diff --git a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h index e4637ebb8..96fd00dce 100644 --- a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h +++ b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h @@ -30,7 +30,6 @@ #define OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT #include -#include "photon/targeting/MultiTargetPNPResult.h" #include "photon/targeting/PnpResult.h" #include "photon/targeting/TargetCorner.h" diff --git a/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h b/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h index e3f79a91e..1e905d9a5 100644 --- a/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h +++ b/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h @@ -102,7 +102,5 @@ class NTTopicSet { cameraDistortionPublisher = subTable->GetDoubleArrayTopic("cameraDistortion").Publish(); } - - private: }; } // namespace photon diff --git a/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h b/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h index 3c8790e4f..70998d230 100644 --- a/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h +++ b/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h @@ -19,11 +19,6 @@ #include -#include -#include - -#include "PnpResult.h" -#include "photon/dataflow/structures/Packet.h" #include "photon/struct/MultiTargetPNPResultStruct.h" namespace photon { diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h index b7cf66035..39726b383 100644 --- a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h +++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h @@ -18,16 +18,13 @@ #pragma once #include -#include #include #include -#include #include "MultiTargetPNPResult.h" #include "PhotonTrackedTarget.h" #include "fmt/base.h" -#include "photon/dataflow/structures/Packet.h" #include "photon/struct/PhotonPipelineResultStruct.h" namespace photon { diff --git a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h index 20c3139e1..66edf0457 100644 --- a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h +++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h @@ -17,13 +17,10 @@ #pragma once -#include -#include #include #include #include -#include #include "photon/struct/PhotonTrackedTargetStruct.h" diff --git a/photon-targeting/src/main/native/include/photon/targeting/PnpResult.h b/photon-targeting/src/main/native/include/photon/targeting/PnpResult.h index f07b46c46..f6d5892fd 100644 --- a/photon-targeting/src/main/native/include/photon/targeting/PnpResult.h +++ b/photon-targeting/src/main/native/include/photon/targeting/PnpResult.h @@ -19,9 +19,6 @@ #include -#include - -#include "photon/dataflow/structures/Packet.h" #include "photon/struct/PnpResultStruct.h" namespace photon { diff --git a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp index b67451206..ddeae3470 100644 --- a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp +++ b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp @@ -15,13 +15,9 @@ * along with this program. If not, see . */ -#include #include #include -#include -#include - #include "org_photonvision_jni_ConstrainedSolvepnpJni.h" #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h" @@ -72,18 +68,6 @@ Java_org_photonvision_jni_ConstrainedSolvepnpJni_do_1optimization pointObservationsMat(pointObservationsVec.data(), 2, pointObservationsVec.size() / 2); -#if 0 - fmt::println("======================================================"); - fmt::println("Got robot2camera raw {}", robot2cameraVec); - fmt::println("Camera cal {} {} {} {}", cameraCal_.fx, cameraCal_.fy, - cameraCal_.cx, cameraCal_.cy); - fmt::println("{} tags", nTags); - std::cout << "robot2camera:\n" << robot2cameraMat << std::endl; - std::cout << "x guess:\n" << xGuessMat << std::endl; - std::cout << "field2pt:\n" << field2pointsMat << std::endl; - std::cout << "observations:\n" << pointObservationsMat << std::endl; -#endif - wpi::expected result = constrained_solvepnp::do_optimization( headingFree, nTags, cameraCal_, robot2cameraMat, xGuessMat, diff --git a/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp b/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp index 110fbe44f..efe35f78a 100644 --- a/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp +++ b/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp @@ -15,8 +15,6 @@ * along with this program. If not, see . */ -#include - #include #include diff --git a/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp b/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp index ea2a0f1ba..c2e66682a 100644 --- a/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp +++ b/photon-targeting/src/test/native/cpp/CasadiWrapperTest.cpp @@ -15,12 +15,9 @@ * along with this program. If not, see . */ -#include -#include -#include -#include - +#include #include +#include #include #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h" @@ -169,11 +166,10 @@ void print_cost(casadi_real robot_x, casadi_real robot_y, x_guess, field2points, point_observations, 0, 0); auto end = wpi::Now(); - std::cout << i << "," << static_cast(x_out) << "," << end - start - << std::endl; - std::cout << "Solution:" - << x_out.value_or(constrained_solvepnp::RobotStateMat::Identity()) - << std::endl; + wpi::println("{},{},{}", i, static_cast(x_out), end - start); + wpi::println( + "Solution: {}", + x_out.value_or(constrained_solvepnp::RobotStateMat::Identity())); // std::cout << "iter " // << i // // << "\nGuess:\n" << x_guess << "\n Optimized ->\n" diff --git a/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp b/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp index f735de7b4..56f80310a 100644 --- a/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp +++ b/photon-targeting/src/test/native/cpp/net/TimeSyncTest.cpp @@ -19,6 +19,7 @@ #include #include #include +#include TEST(TimeSyncProtocolTest, Smoketest) { using namespace wpi::tsp; diff --git a/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp b/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp index 714a70ee7..c5ac66f4c 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp +++ b/photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp @@ -24,8 +24,6 @@ #include "Robot.h" -#include - #include #include #include diff --git a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp index 92801c3e4..4602def8a 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp +++ b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDrive.cpp @@ -24,7 +24,6 @@ #include "subsystems/SwerveDrive.h" -#include #include #include diff --git a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp index 223ecdfa7..3cfc9a6d4 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp +++ b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveDriveSim.cpp @@ -24,8 +24,6 @@ #include "subsystems/SwerveDriveSim.h" -#include - #include #include diff --git a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveModule.cpp b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveModule.cpp index 0811f01c9..4b0e27da6 100644 --- a/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveModule.cpp +++ b/photonlib-cpp-examples/aimandrange/src/main/cpp/subsystems/SwerveModule.cpp @@ -24,7 +24,6 @@ #include "subsystems/SwerveModule.h" -#include #include #include diff --git a/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp b/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp index 5431f3cfb..832884bc8 100644 --- a/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp +++ b/photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp @@ -24,8 +24,6 @@ #include "Robot.h" -#include - #include #include diff --git a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDrive.cpp b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDrive.cpp index 92801c3e4..4602def8a 100644 --- a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDrive.cpp +++ b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDrive.cpp @@ -24,7 +24,6 @@ #include "subsystems/SwerveDrive.h" -#include #include #include diff --git a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp index 223ecdfa7..3cfc9a6d4 100644 --- a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp +++ b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveDriveSim.cpp @@ -24,8 +24,6 @@ #include "subsystems/SwerveDriveSim.h" -#include - #include #include diff --git a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp index 0811f01c9..4b0e27da6 100644 --- a/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp +++ b/photonlib-cpp-examples/aimattarget/src/main/cpp/subsystems/SwerveModule.cpp @@ -24,7 +24,6 @@ #include "subsystems/SwerveModule.h" -#include #include #include diff --git a/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp b/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp index 3ce3663d8..92aaaed28 100644 --- a/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp +++ b/photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp @@ -24,8 +24,6 @@ #include "Robot.h" -#include - #include #include diff --git a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDrive.cpp b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDrive.cpp index 154c2f88e..38b2387a7 100644 --- a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDrive.cpp +++ b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDrive.cpp @@ -24,7 +24,6 @@ #include "subsystems/SwerveDrive.h" -#include #include #include diff --git a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp index 223ecdfa7..3cfc9a6d4 100644 --- a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp +++ b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveDriveSim.cpp @@ -24,8 +24,6 @@ #include "subsystems/SwerveDriveSim.h" -#include - #include #include diff --git a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp index 0811f01c9..4b0e27da6 100644 --- a/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp +++ b/photonlib-cpp-examples/poseest/src/main/cpp/subsystems/SwerveModule.cpp @@ -24,7 +24,6 @@ #include "subsystems/SwerveModule.h" -#include #include #include diff --git a/shared/PhotonVersion.cpp.in b/shared/PhotonVersion.cpp.in index d6aacbeaa..438ee019e 100644 --- a/shared/PhotonVersion.cpp.in +++ b/shared/PhotonVersion.cpp.in @@ -16,7 +16,6 @@ */ #include -#include /* * Autogenerated file! Do not manually edit this file. This version is