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Replace .to<double>() and .template to<double>() with .value() (#3667)

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It's a less verbose way to do the same thing.
This commit is contained in:
Tyler Veness
2021-10-25 08:58:12 -07:00
committed by GitHub
parent 6bc1db44bc
commit 181723e573
134 changed files with 782 additions and 826 deletions
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25
wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
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@@ -17,9 +17,9 @@ TEST(Twist2dTest, Straight) {
const Twist2d straight{5.0_m, 0.0_m, 0.0_rad};
const auto straightPose = Pose2d().Exp(straight);
EXPECT_NEAR(straightPose.X().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(straightPose.Y().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(straightPose.Rotation().Radians().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(straightPose.X().value(), 5.0, kEpsilon);
EXPECT_NEAR(straightPose.Y().value(), 0.0, kEpsilon);
EXPECT_NEAR(straightPose.Rotation().Radians().value(), 0.0, kEpsilon);
}
TEST(Twist2dTest, QuarterCircle) {
@@ -27,19 +27,18 @@ TEST(Twist2dTest, QuarterCircle) {
units::radian_t(wpi::numbers::pi / 2.0)};
const auto quarterCirclePose = Pose2d().Exp(quarterCircle);
EXPECT_NEAR(quarterCirclePose.X().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Y().to<double>(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Rotation().Degrees().to<double>(), 90.0,
kEpsilon);
EXPECT_NEAR(quarterCirclePose.X().value(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Y().value(), 5.0, kEpsilon);
EXPECT_NEAR(quarterCirclePose.Rotation().Degrees().value(), 90.0, kEpsilon);
}
TEST(Twist2dTest, DiagonalNoDtheta) {
const Twist2d diagonal{2.0_m, 2.0_m, 0.0_deg};
const auto diagonalPose = Pose2d().Exp(diagonal);
EXPECT_NEAR(diagonalPose.X().to<double>(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Y().to<double>(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Rotation().Degrees().to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(diagonalPose.X().value(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Y().value(), 2.0, kEpsilon);
EXPECT_NEAR(diagonalPose.Rotation().Degrees().value(), 0.0, kEpsilon);
}
TEST(Twist2dTest, Equality) {
@@ -60,7 +59,7 @@ TEST(Twist2dTest, Pose2dLog) {
const auto twist = start.Log(end);
EXPECT_NEAR(twist.dx.to<double>(), 5 / 2.0 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(twist.dy.to<double>(), 0.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.to<double>(), wpi::numbers::pi / 2.0, kEpsilon);
EXPECT_NEAR(twist.dx.value(), 5 / 2.0 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(twist.dy.value(), 0.0, kEpsilon);
EXPECT_NEAR(twist.dtheta.value(), wpi::numbers::pi / 2.0, kEpsilon);
}