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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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32
wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
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@@ -20,8 +20,8 @@ TEST(DifferentialDriveKinematicsTest, InverseKinematicsFromZero) {
const ChassisSpeeds chassisSpeeds;
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), 0, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), 0, kEpsilon);
EXPECT_NEAR(wheelSpeeds.left.value(), 0, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.value(), 0, kEpsilon);
}
TEST(DifferentialDriveKinematicsTest, ForwardKinematicsFromZero) {
@@ -29,9 +29,9 @@ TEST(DifferentialDriveKinematicsTest, ForwardKinematicsFromZero) {
const DifferentialDriveWheelSpeeds wheelSpeeds;
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vx.value(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.value(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), 0, kEpsilon);
}
TEST(DifferentialDriveKinematicsTest, InverseKinematicsForStraightLine) {
@@ -39,8 +39,8 @@ TEST(DifferentialDriveKinematicsTest, InverseKinematicsForStraightLine) {
const ChassisSpeeds chassisSpeeds{3.0_mps, 0_mps, 0_rad_per_s};
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), 3, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), 3, kEpsilon);
EXPECT_NEAR(wheelSpeeds.left.value(), 3, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.value(), 3, kEpsilon);
}
TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForStraightLine) {
@@ -48,9 +48,9 @@ TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForStraightLine) {
const DifferentialDriveWheelSpeeds wheelSpeeds{3.0_mps, 3.0_mps};
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 3, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vx.value(), 3, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.value(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), 0, kEpsilon);
}
TEST(DifferentialDriveKinematicsTest, InverseKinematicsForRotateInPlace) {
@@ -59,10 +59,8 @@ TEST(DifferentialDriveKinematicsTest, InverseKinematicsForRotateInPlace) {
0.0_mps, 0.0_mps, units::radians_per_second_t{wpi::numbers::pi}};
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.to<double>(), -0.381 * wpi::numbers::pi,
kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.to<double>(), +0.381 * wpi::numbers::pi,
kEpsilon);
EXPECT_NEAR(wheelSpeeds.left.value(), -0.381 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.value(), +0.381 * wpi::numbers::pi, kEpsilon);
}
TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForRotateInPlace) {
@@ -72,7 +70,7 @@ TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForRotateInPlace) {
units::meters_per_second_t(-0.381 * wpi::numbers::pi)};
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.to<double>(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.to<double>(), -wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vx.value(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.value(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), -wpi::numbers::pi, kEpsilon);
}