Fixed cpplint.py warnings (#215)

* Fixed cpplint.py [build/include_order] and [build/include_what_you_use] warnings
* Fixed cpplint.py [readability/casting] warnings
* Updated .styleguide format
* Fixed cpplint.py [build/header_guard] warnings

.styleguide

@@ -1,12 +1,15 @@
 cExtensions {
 }
 
-cppExtensions {
-  cpp
+cppHeaderExtensions {
   h
   inc
 }
 
+cppSrcExtensions {
+  cpp
+}
+
 otherExtensions {
   java
 }

hal/include/HAL/cpp/priority_condition_variable.h

@@ -18,6 +18,7 @@
 
 #include <condition_variable>
 #include <memory>
+#include <utility>
 
 #include "priority_mutex.h"
 

hal/lib/athena/Accelerometer.cpp

@@ -7,12 +7,12 @@
 
 #include "HAL/Accelerometer.h"
 
+#include <stdint.h>
+
 #include <cassert>
 #include <cstdio>
 #include <memory>
 
-#include <stdint.h>
-
 #include "ChipObject.h"
 #include "HAL/HAL.h"
 

hal/lib/athena/AnalogInternal.h

@@ -9,6 +9,8 @@
 
 #include <stdint.h>
 
+#include <memory>
+
 #include "ChipObject.h"
 #include "HAL/Ports.h"
 #include "HAL/cpp/priority_mutex.h"

hal/lib/athena/DigitalInternal.h

@@ -9,6 +9,8 @@
 
 #include <stdint.h>
 
+#include <memory>
+
 #include "ChipObject.h"
 #include "HAL/AnalogTrigger.h"
 #include "HAL/Ports.h"

hal/lib/athena/FRCDriverStation.cpp

@@ -5,13 +5,12 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-#include "HAL/HAL.h"
-
 #include <cstdlib>
 #include <cstring>
 #include <limits>
 
 #include "FRC_NetworkCommunication/FRCComm.h"
+#include "HAL/HAL.h"
 #include "HAL/cpp/priority_condition_variable.h"
 #include "HAL/cpp/priority_mutex.h"
 

simulation/frc_gazebo_plugins/clock/src/clock.h

@@ -7,12 +7,14 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
+#include <string>
 
 #include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /**

simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h

@@ -7,12 +7,14 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
+#include <string>
 
 #include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /**

simulation/frc_gazebo_plugins/encoder/src/encoder.h

@@ -7,12 +7,14 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
+#include <string>
 
 #include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /**

simulation/frc_gazebo_plugins/gyro/src/gyro.h

@@ -7,12 +7,14 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
+#include <string>
 
 #include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /// \brief The axis about which to measure rotation.

simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp

@@ -7,6 +7,8 @@
 
 #include "external_limit_switch.h"
 
+#include <string>
+
 ExternalLimitSwitch::ExternalLimitSwitch(sdf::ElementPtr sdf) {
   sensor = std::dynamic_pointer_cast<sensors::ContactSensor>(
       sensors::get_sensor(sdf->Get<std::string>("sensor")));

simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.h

@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include "switch.h"
-
 #ifdef _WIN32
 #include <Winsock2.h>
 #endif
@@ -17,6 +15,8 @@
 #include <gazebo/gazebo.hh>
 #include <gazebo/sensors/sensors.hh>
 
+#include "switch.h"
+
 using namespace gazebo;
 
 class ExternalLimitSwitch : public Switch {

simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.cpp

@@ -7,6 +7,8 @@
 
 #include "internal_limit_switch.h"
 
+#include <string>
+
 InternalLimitSwitch::InternalLimitSwitch(physics::ModelPtr model,
                                          sdf::ElementPtr sdf) {
   joint = model->GetJoint(sdf->Get<std::string>("joint"));

simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.h

@@ -7,14 +7,15 @@
 
 #pragma once
 
-#include "switch.h"
-
 #ifdef _WIN32
 #include <Winsock2.h>
 #endif
+
 #include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 
+#include "switch.h"
+
 using namespace gazebo;
 
 class InternalLimitSwitch : public Switch {

simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h

@@ -7,17 +7,17 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
-
-#include "switch.h"
-
-#include "external_limit_switch.h"
-#include "internal_limit_switch.h"
+#include <string>
 
 #include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>
 
+#include "external_limit_switch.h"
+#include "internal_limit_switch.h"
+#include "simulation/gz_msgs/msgs.h"
+#include "switch.h"
+
 using namespace gazebo;
 
 /**

simulation/frc_gazebo_plugins/limit_switch/src/switch.h

@@ -9,7 +9,7 @@
 
 class Switch {
  public:
-  virtual ~Switch() {}
+  virtual ~Switch() = default;
 
   /// \brief Returns true when the switch is triggered.
   virtual bool Get() = 0;

simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.cpp

@@ -5,14 +5,14 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include "pneumatic_piston.h"
+
 #ifdef _WIN32
 // Ensure that Winsock2.h is included before Windows.h, which can get
 // pulled in by anybody (e.g., Boost).
 #include <Winsock2.h>
 #endif
 
-#include "pneumatic_piston.h"
-
 #include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>

simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h

@@ -7,10 +7,12 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
+#include <string>
 
 #include <gazebo/gazebo.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /**

simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.cpp

@@ -5,14 +5,14 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include "potentiometer.h"
+
 #ifdef _WIN32
 // Ensure that Winsock2.h is included before Windows.h, which can get
 // pulled in by anybody (e.g., Boost).
 #include <Winsock2.h>
 #endif
 
-#include "potentiometer.h"
-
 #include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>

simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h

@@ -7,10 +7,12 @@
 
 #pragma once
 
-#include <simulation/gz_msgs/msgs.h>
+#include <string>
 
 #include <gazebo/gazebo.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /**

simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp

@@ -5,14 +5,14 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include "rangefinder.h"
+
 #ifdef _WIN32
 // Ensure that Winsock2.h is included before Windows.h, which can get
 // pulled in by anybody (e.g., Boost).
 #include <Winsock2.h>
 #endif
 
-#include "rangefinder.h"
-
 #include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/sensors/sensors.hh>

simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h

@@ -7,10 +7,12 @@
 
 #pragma once
 
-#include <simulation/gz_msgs/msgs.h>
+#include <string>
 
 #include <gazebo/gazebo.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /**

simulation/frc_gazebo_plugins/servo/src/servo.cpp

@@ -5,14 +5,14 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include "servo.h"
+
 #ifdef _WIN32
 // Ensure that Winsock2.h is included before Windows.h, which can get
 // pulled in by anybody (e.g., Boost).
 #include <Winsock2.h>
 #endif
 
-#include "servo.h"
-
 #include <boost/algorithm/string/replace.hpp>
 #include <gazebo/physics/physics.hh>
 #include <gazebo/transport/transport.hh>

simulation/frc_gazebo_plugins/servo/src/servo.h

@@ -7,10 +7,12 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
+#include <string>
 
 #include <gazebo/gazebo.hh>
 
+#include "simulation/gz_msgs/msgs.h"
+
 using namespace gazebo;
 
 /**

wpilibc/athena/include/ADXL345_I2C.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "I2C.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/ADXL345_SPI.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "LiveWindow/LiveWindowSendable.h"
 #include "SPI.h"

wpilibc/athena/include/ADXL362.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "LiveWindow/LiveWindowSendable.h"
 #include "SPI.h"

wpilibc/athena/include/AnalogAccelerometer.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "AnalogInput.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/AnalogGyro.h

@@ -7,8 +7,9 @@
 
 #pragma once
 
-#include "GyroBase.h"
+#include <memory>
 
+#include "GyroBase.h"
 #include "HAL/Types.h"
 
 class AnalogInput;

wpilibc/athena/include/AnalogInput.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "HAL/Types.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/AnalogOutput.h

@@ -10,6 +10,7 @@
 #include <stdint.h>
 
 #include <memory>
+#include <string>
 
 #include "HAL/AnalogOutput.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/AnalogPotentiometer.h

@@ -5,7 +5,10 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#pragma once
+
 #include <memory>
+#include <string>
 
 #include "AnalogInput.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/AnalogTrigger.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <memory>
+
 #include "AnalogTriggerOutput.h"
 #include "HAL/Types.h"
 #include "SensorBase.h"

wpilibc/athena/include/BuiltInAccelerometer.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "LiveWindow/LiveWindowSendable.h"
 #include "SensorBase.h"

wpilibc/athena/include/CANJaguar.h

@@ -10,6 +10,7 @@
 #include <atomic>
 #include <memory>
 #include <sstream>
+#include <string>
 #include <utility>
 
 #include "CAN/can_proto.h"

wpilibc/athena/include/CANTalon.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "CANSpeedController.h"
 #include "HAL/CanTalonSRX.h"

wpilibc/athena/include/Compressor.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "HAL/Types.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/Counter.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "AnalogTrigger.h"
 #include "CounterBase.h"

wpilibc/athena/include/DigitalInput.h

@@ -10,6 +10,7 @@
 #include <stdint.h>
 
 #include <memory>
+#include <string>
 
 #include "DigitalSource.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/DigitalOutput.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "DigitalSource.h"
 #include "HAL/Types.h"

wpilibc/athena/include/DoubleSolenoid.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "HAL/Types.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/DriverStation.h

@@ -9,6 +9,8 @@
 
 #include <atomic>
 #include <condition_variable>
+#include <memory>
+#include <string>
 
 #include "HAL/cpp/Semaphore.h"
 #include "HAL/cpp/priority_condition_variable.h"

wpilibc/athena/include/Encoder.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "Counter.h"
 #include "CounterBase.h"

wpilibc/athena/include/GearTooth.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "Counter.h"
 

wpilibc/athena/include/Internal/HardwareHLReporting.h

@@ -5,6 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#pragma once
+
 #include "HLUsageReporting.h"
 
 class HardwareHLReporting : public HLUsageReportingInterface {

wpilibc/athena/include/Joystick.h

@@ -10,6 +10,7 @@
 #include <stdint.h>
 
 #include <memory>
+#include <string>
 #include <vector>
 
 #include "ErrorBase.h"

wpilibc/athena/include/Notifier.h

@@ -9,6 +9,7 @@
 
 #include <atomic>
 #include <functional>
+#include <utility>
 
 #include "ErrorBase.h"
 #include "HAL/Notifier.h"

wpilibc/athena/include/PWM.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "HAL/Types.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/PowerDistributionPanel.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "LiveWindow/LiveWindowSendable.h"
 #include "SensorBase.h"

wpilibc/athena/include/Preferences.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <map>
+#include <memory>
 #include <string>
 #include <vector>
 

wpilibc/athena/include/Relay.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "HAL/Types.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/SerialPort.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <string>
+
 #include "ErrorBase.h"
 
 /**

wpilibc/athena/include/Servo.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "SafePWM.h"
 #include "SpeedController.h"

wpilibc/athena/include/Solenoid.h

@@ -8,6 +8,7 @@
 #pragma once
 
 #include <memory>
+#include <string>
 
 #include "HAL/Types.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/Ultrasonic.h

@@ -10,6 +10,7 @@
 #include <atomic>
 #include <memory>
 #include <set>
+#include <string>
 
 #include "Counter.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/athena/include/Vision/AxisCamera.h

@@ -9,6 +9,7 @@
 
 #include <string>
 #include <thread>
+#include <vector>
 
 #include "ErrorBase.h"
 #include "HAL/cpp/priority_mutex.h"

wpilibc/athena/include/Vision/BaeUtilities.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <string>
+
 /*  Constants */
 #define LOG_DEBUG __FILE__, __FUNCTION__, __LINE__, DEBUG_TYPE
 #define LOG_INFO __FILE__, __FUNCTION__, __LINE__, INFO_TYPE

wpilibc/athena/src/AnalogInput.cpp

@@ -6,13 +6,14 @@
 /*----------------------------------------------------------------------------*/
 
 #include "AnalogInput.h"
+
+#include <sstream>
+
 #include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
 #include "WPIErrors.h"
 
-#include <sstream>
-
 const uint8_t AnalogInput::kAccumulatorModuleNumber;
 const uint32_t AnalogInput::kAccumulatorNumChannels;
 const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1};

wpilibc/athena/src/AnalogOutput.cpp

@@ -6,13 +6,14 @@
 /*----------------------------------------------------------------------------*/
 
 #include "AnalogOutput.h"
-#include "HAL/HAL.h"
-#include "LiveWindow/LiveWindow.h"
-#include "WPIErrors.h"
 
 #include <limits>
 #include <sstream>
 
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "WPIErrors.h"
+
 /**
  * Construct an analog output on the given channel.
  *

wpilibc/athena/src/AnalogTrigger.cpp

@@ -7,12 +7,12 @@
 
 #include "AnalogTrigger.h"
 
+#include <memory>
+
 #include "AnalogInput.h"
 #include "HAL/HAL.h"
 #include "WPIErrors.h"
 
-#include <memory>
-
 /**
  * Constructor for an analog trigger given a channel number.
  *

wpilibc/athena/src/DigitalOutput.cpp

@@ -7,12 +7,12 @@
 
 #include "DigitalOutput.h"
 
-#include "HAL/HAL.h"
-#include "WPIErrors.h"
-
 #include <limits>
 #include <sstream>
 
+#include "HAL/HAL.h"
+#include "WPIErrors.h"
+
 /**
  * Create an instance of a digital output.
  *

wpilibc/athena/src/DoubleSolenoid.cpp

@@ -6,12 +6,13 @@
 /*----------------------------------------------------------------------------*/
 
 #include "DoubleSolenoid.h"
+
+#include <sstream>
+
 #include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "WPIErrors.h"
 
-#include <sstream>
-
 /**
  * Constructor.
  *

wpilibc/athena/src/PWM.cpp

@@ -7,12 +7,12 @@
 
 #include "PWM.h"
 
+#include <sstream>
+
 #include "HAL/HAL.h"
 #include "Utility.h"
 #include "WPIErrors.h"
 
-#include <sstream>
-
 /**
  * Allocate a PWM given a channel number.
  *

wpilibc/athena/src/PowerDistributionPanel.cpp

@@ -6,12 +6,13 @@
 /*----------------------------------------------------------------------------*/
 
 #include "PowerDistributionPanel.h"
+
+#include <sstream>
+
 #include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "WPIErrors.h"
 
-#include <sstream>
-
 PowerDistributionPanel::PowerDistributionPanel() : PowerDistributionPanel(0) {}
 
 /**

wpilibc/athena/src/Relay.cpp

@@ -7,13 +7,13 @@
 
 #include "Relay.h"
 
+#include <sstream>
+
 #include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "MotorSafetyHelper.h"
 #include "WPIErrors.h"
 
-#include <sstream>
-
 /**
  * Relay constructor given a channel.
  *

wpilibc/athena/src/RobotDrive.cpp

@@ -7,7 +7,9 @@
 
 #include "RobotDrive.h"
 
-#include <math.h>
+#include <algorithm>
+#include <cmath>
+
 #include "GenericHID.h"
 #include "HAL/HAL.h"
 #include "Joystick.h"
@@ -15,9 +17,6 @@
 #include "Utility.h"
 #include "WPIErrors.h"
 
-#undef max
-#include <algorithm>
-
 const int32_t RobotDrive::kMaxNumberOfMotors;
 
 static auto make_shared_nodelete(SpeedController* ptr) {
@@ -223,13 +222,13 @@ void RobotDrive::Drive(float outputMagnitude, float curve) {
   }
 
   if (curve < 0) {
-    float value = log(-curve);
+    float value = std::log(-curve);
     float ratio = (value - m_sensitivity) / (value + m_sensitivity);
     if (ratio == 0) ratio = .0000000001;
     leftOutput = outputMagnitude / ratio;
     rightOutput = outputMagnitude;
   } else if (curve > 0) {
-    float value = log(curve);
+    float value = std::log(curve);
     float ratio = (value - m_sensitivity) / (value + m_sensitivity);
     if (ratio == 0) ratio = .0000000001;
     leftOutput = outputMagnitude;
@@ -557,11 +556,11 @@ void RobotDrive::MecanumDrive_Polar(float magnitude, float direction,
   }
 
   // Normalized for full power along the Cartesian axes.
-  magnitude = Limit(magnitude) * sqrt(2.0);
+  magnitude = Limit(magnitude) * std::sqrt(2.0);
   // The rollers are at 45 degree angles.
   double dirInRad = (direction + 45.0) * 3.14159 / 180.0;
-  double cosD = cos(dirInRad);
-  double sinD = sin(dirInRad);
+  double cosD = std::cos(dirInRad);
+  double sinD = std::sin(dirInRad);
 
   double wheelSpeeds[kMaxNumberOfMotors];
   wheelSpeeds[kFrontLeftMotor] = sinD * magnitude + rotation;
@@ -637,10 +636,10 @@ float RobotDrive::Limit(float num) {
  * Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0.
  */
 void RobotDrive::Normalize(double* wheelSpeeds) {
-  double maxMagnitude = fabs(wheelSpeeds[0]);
+  double maxMagnitude = std::fabs(wheelSpeeds[0]);
   int32_t i;
   for (i = 1; i < kMaxNumberOfMotors; i++) {
-    double temp = fabs(wheelSpeeds[i]);
+    double temp = std::fabs(wheelSpeeds[i]);
     if (maxMagnitude < temp) maxMagnitude = temp;
   }
   if (maxMagnitude > 1.0) {
@@ -654,8 +653,8 @@ void RobotDrive::Normalize(double* wheelSpeeds) {
  * Rotate a vector in Cartesian space.
  */
 void RobotDrive::RotateVector(double& x, double& y, double angle) {
-  double cosA = cos(angle * (3.14159 / 180.0));
-  double sinA = sin(angle * (3.14159 / 180.0));
+  double cosA = std::cos(angle * (3.14159 / 180.0));
+  double sinA = std::sin(angle * (3.14159 / 180.0));
   double xOut = x * cosA - y * sinA;
   double yOut = x * sinA + y * cosA;
   x = xOut;

wpilibc/athena/src/Solenoid.cpp

@@ -6,12 +6,13 @@
 /*----------------------------------------------------------------------------*/
 
 #include "Solenoid.h"
+
+#include <sstream>
+
 #include "HAL/HAL.h"
 #include "LiveWindow/LiveWindow.h"
 #include "WPIErrors.h"
 
-#include <sstream>
-
 /**
  * Constructor using the default PCM ID (0).
  *

wpilibc/athena/src/Vision/BaeUtilities.cpp

@@ -5,19 +5,20 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include "Vision/BaeUtilities.h"
+
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+
 #include <cmath>
 #include <cstdarg>
 #include <cstdio>
 #include <iomanip>
 #include <iostream>
 
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <unistd.h>
-
 #include "Servo.h"
 #include "Timer.h"
-#include "Vision/BaeUtilities.h"
 
 /** @file
  *   Utility functions

wpilibc/shared/include/Buttons/Trigger.h

@@ -8,6 +8,8 @@
 #pragma once
 
 #include <memory>
+#include <string>
+
 #include "SmartDashboard/Sendable.h"
 
 class Command;

wpilibc/shared/include/CircularBuffer.inc

@@ -5,6 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#pragma once
+
 #include <algorithm>
 
 template <class T>

wpilibc/shared/include/Commands/CommandGroup.h

@@ -8,7 +8,9 @@
 #pragma once
 
 #include <list>
+#include <string>
 #include <vector>
+
 #include "Commands/Command.h"
 #include "Commands/CommandGroupEntry.h"
 

wpilibc/shared/include/Commands/PIDCommand.h

@@ -7,13 +7,14 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "Commands/Command.h"
 #include "PIDController.h"
 #include "PIDOutput.h"
 #include "PIDSource.h"
 
-#include <memory>
-
 class PIDCommand : public Command, public PIDOutput, public PIDSource {
  public:
   PIDCommand(const std::string& name, double p, double i, double d);

wpilibc/shared/include/Commands/PIDSubsystem.h

@@ -7,13 +7,14 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "Commands/Subsystem.h"
 #include "PIDController.h"
 #include "PIDOutput.h"
 #include "PIDSource.h"
 
-#include <memory>
-
 /**
  * This class is designed to handle the case where there is a {@link Subsystem}
  * which uses a single {@link PIDController} almost constantly (for instance,

wpilibc/shared/include/Commands/WaitCommand.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <string>
+
 #include "Commands/Command.h"
 
 class WaitCommand : public Command {

wpilibc/shared/include/Commands/WaitForChildren.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <string>
+
 #include "Commands/Command.h"
 
 class WaitForChildren : public Command {

wpilibc/shared/include/Commands/WaitUntilCommand.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <string>
+
 #include "Commands/Command.h"
 
 class WaitUntilCommand : public Command {

wpilibc/shared/include/GyroBase.h

@@ -7,13 +7,14 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "LiveWindow/LiveWindowSendable.h"
 #include "PIDSource.h"
 #include "SensorBase.h"
 #include "interfaces/Gyro.h"
 
-#include <memory>
-
 /**
  * GyroBase is the common base class for Gyro implementations such as
  * AnalogGyro.

wpilibc/shared/include/LiveWindow/LiveWindow.h

@@ -9,7 +9,9 @@
 
 #include <map>
 #include <memory>
+#include <string>
 #include <vector>
+
 #include "Commands/Scheduler.h"
 #include "LiveWindow/LiveWindowSendable.h"
 #include "tables/ITable.h"

wpilibc/shared/include/LiveWindow/LiveWindowStatusListener.h

@@ -7,6 +7,8 @@
 
 #pragma once
 
+#include <memory>
+
 #include "tables/ITable.h"
 #include "tables/ITableListener.h"
 

wpilibc/shared/include/PIDController.h

@@ -7,6 +7,11 @@
 
 #pragma once
 
+#include <atomic>
+#include <memory>
+#include <queue>
+#include <string>
+
 #include "Base.h"
 #include "Controller.h"
 #include "HAL/cpp/priority_mutex.h"
@@ -16,11 +21,6 @@
 #include "PIDSource.h"
 #include "Timer.h"
 
-#include <memory>
-
-#include <atomic>
-#include <queue>
-
 class PIDOutput;
 
 /**

wpilibc/shared/include/Resource.h

@@ -8,10 +8,12 @@
 #pragma once
 
 #include <stdint.h>
-#include <memory>
-#include <vector>
-#include "ErrorBase.h"
 
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "ErrorBase.h"
 #include "HAL/cpp/priority_mutex.h"
 
 /**

wpilibc/shared/include/SmartDashboard/SmartDashboard.h

@@ -8,7 +8,9 @@
 #pragma once
 
 #include <map>
+#include <memory>
 #include <string>
+
 #include "SensorBase.h"
 #include "SmartDashboard/NamedSendable.h"
 #include "SmartDashboard/Sendable.h"

wpilibc/shared/include/Task.inc

@@ -5,7 +5,12 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#pragma once
+
 #include <atomic>
+#include <string>
+#include <utility>
+
 #include "HAL/HAL.h"
 
 /**

wpilibc/shared/src/Commands/CommandGroup.cpp

@@ -181,7 +181,7 @@ void CommandGroup::_Execute() {
     m_currentCommandIndex = 0;
   }
 
-  while ((unsigned)m_currentCommandIndex < m_commands.size()) {
+  while (static_cast<size_t>(m_currentCommandIndex) < m_commands.size()) {
     if (cmd != nullptr) {
       if (entry.IsTimedOut()) cmd->_Cancel();
 
@@ -243,7 +243,7 @@ void CommandGroup::_End() {
   // Theoretically, we don't have to check this, but we do if teams override the
   // IsFinished method
   if (m_currentCommandIndex != -1 &&
-      (unsigned)m_currentCommandIndex < m_commands.size()) {
+      static_cast<size_t>(m_currentCommandIndex) < m_commands.size()) {
     Command* cmd = m_commands[m_currentCommandIndex].m_command;
     cmd->_Cancel();
     cmd->Removed();
@@ -273,7 +273,7 @@ void CommandGroup::End() {}
 void CommandGroup::Interrupted() {}
 
 bool CommandGroup::IsFinished() {
-  return (unsigned)m_currentCommandIndex >= m_commands.size() &&
+  return static_cast<size_t>(m_currentCommandIndex) >= m_commands.size() &&
          m_children.empty();
 }
 
@@ -281,7 +281,7 @@ bool CommandGroup::IsInterruptible() const {
   if (!Command::IsInterruptible()) return false;
 
   if (m_currentCommandIndex != -1 &&
-      (unsigned)m_currentCommandIndex < m_commands.size()) {
+      static_cast<size_t>(m_currentCommandIndex) < m_commands.size()) {
     Command* cmd = m_commands[m_currentCommandIndex].m_command;
     if (!cmd->IsInterruptible()) return false;
   }

wpilibc/shared/src/Commands/PIDSubsystem.cpp

@@ -7,7 +7,6 @@
 
 #include "Commands/PIDSubsystem.h"
 #include "PIDController.h"
-#include "float.h"
 
 /**
  * Instantiates a {@link PIDSubsystem} that will use the given p, i and d

wpilibc/sim/include/AnalogGyro.h

@@ -7,11 +7,11 @@
 
 #pragma once
 
+#include <memory>
+
 #include "GyroBase.h"
 #include "simulation/SimGyro.h"
 
-#include <memory>
-
 class AnalogInput;
 class AnalogModule;
 

wpilibc/sim/include/AnalogInput.h

@@ -7,13 +7,14 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "LiveWindow/LiveWindowSendable.h"
 #include "PIDSource.h"
 #include "SensorBase.h"
 #include "simulation/SimFloatInput.h"
 
-#include <memory>
-
 /**
  * Analog input class.
  *

wpilibc/sim/include/AnalogPotentiometer.h

@@ -7,12 +7,13 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "AnalogInput.h"
 #include "LiveWindow/LiveWindowSendable.h"
 #include "interfaces/Potentiometer.h"
 
-#include <memory>
-
 /**
  * Class for reading analog potentiometers. Analog potentiometers read
  * in an analog voltage that corresponds to a position. Usually the

wpilibc/sim/include/Counter.h

@@ -7,12 +7,13 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "CounterBase.h"
 #include "LiveWindow/LiveWindowSendable.h"
 #include "SensorBase.h"
 
-#include <memory>
-
 /**
  * Class for counting the number of ticks on a digital input channel.
  *

wpilibc/sim/include/DigitalInput.h

@@ -7,11 +7,12 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "LiveWindow/LiveWindowSendable.h"
 #include "simulation/SimDigitalInput.h"
 
-#include <memory>
-
 /**
  * Class to read a digital input.
  *

wpilibc/sim/include/DoubleSolenoid.h

@@ -7,12 +7,13 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "LiveWindow/LiveWindowSendable.h"
 #include "simulation/SimContinuousOutput.h"
 #include "tables/ITableListener.h"
 
-#include <memory>
-
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
  * (PCM).

wpilibc/sim/include/DriverStation.h

@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include "simulation/gz_msgs/msgs.h"
-
 #ifdef _WIN32
 // Ensure that Winsock2.h is included before Windows.h, which can get
 // pulled in by anybody (e.g., Boost).
@@ -16,10 +14,14 @@
 #endif
 
 #include <condition_variable>
-#include <gazebo/transport/transport.hh>
 #include <mutex>
+#include <string>
+
+#include <gazebo/transport/transport.hh>
+
 #include "RobotState.h"
 #include "SensorBase.h"
+#include "simulation/gz_msgs/msgs.h"
 
 struct HALCommonControlData;
 class AnalogInput;

wpilibc/sim/include/Encoder.h

@@ -10,6 +10,7 @@
 #include <stdint.h>
 
 #include <memory>
+#include <string>
 
 #include "CounterBase.h"
 #include "LiveWindow/LiveWindowSendable.h"

wpilibc/sim/include/MotorSafetyHelper.h

@@ -7,11 +7,11 @@
 
 #pragma once
 
+#include <set>
+
 #include "ErrorBase.h"
 #include "HAL/cpp/priority_mutex.h"
 
-#include <set>
-
 class MotorSafety;
 
 class MotorSafetyHelper : public ErrorBase {

wpilibc/sim/include/Notifier.h

@@ -11,6 +11,7 @@
 #include <functional>
 #include <list>
 #include <thread>
+#include <utility>
 
 #include "ErrorBase.h"
 #include "HAL/cpp/priority_mutex.h"

wpilibc/sim/include/PWM.h

@@ -7,13 +7,14 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "LiveWindow/LiveWindowSendable.h"
 #include "SensorBase.h"
 #include "simulation/SimContinuousOutput.h"
 #include "tables/ITableListener.h"
 
-#include <memory>
-
 /**
  * Class implements the PWM generation in the FPGA.
  *

wpilibc/sim/include/Relay.h

@@ -7,6 +7,9 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "LiveWindow/LiveWindowSendable.h"
 #include "MotorSafety.h"
 #include "SensorBase.h"
@@ -14,8 +17,6 @@
 #include "tables/ITable.h"
 #include "tables/ITableListener.h"
 
-#include <memory>
-
 class MotorSafetyHelper;
 class DigitalModule;
 

wpilibc/sim/include/Solenoid.h

@@ -7,12 +7,13 @@
 
 #pragma once
 
+#include <memory>
+#include <string>
+
 #include "LiveWindow/LiveWindowSendable.h"
 #include "simulation/SimContinuousOutput.h"
 #include "tables/ITableListener.h"
 
-#include <memory>
-
 /**
  * Solenoid class for running high voltage Digital Output (PCM).
  *

wpilibc/sim/include/simulation/MainNode.h

@@ -7,8 +7,11 @@
 
 #pragma once
 
+#include <string>
+
 #include <gazebo/gazebo_client.hh>
 #include <gazebo/transport/transport.hh>
+
 #include "simulation/gz_msgs/msgs.h"
 
 using namespace gazebo;