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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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31
wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
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@@ -53,27 +53,26 @@ class CubicHermiteSplineTest : public ::testing::Test {
// Make sure the twist is under the tolerance defined by the Spline class.
auto twist = p0.first.Log(p1.first);
EXPECT_LT(std::abs(twist.dx.to<double>()),
SplineParameterizer::kMaxDx.to<double>());
EXPECT_LT(std::abs(twist.dy.to<double>()),
SplineParameterizer::kMaxDy.to<double>());
EXPECT_LT(std::abs(twist.dtheta.to<double>()),
SplineParameterizer::kMaxDtheta.to<double>());
EXPECT_LT(std::abs(twist.dx.value()),
SplineParameterizer::kMaxDx.value());
EXPECT_LT(std::abs(twist.dy.value()),
SplineParameterizer::kMaxDy.value());
EXPECT_LT(std::abs(twist.dtheta.value()),
SplineParameterizer::kMaxDtheta.value());
}
// Check first point.
EXPECT_NEAR(poses.front().first.X().to<double>(), a.X().to<double>(), 1E-9);
EXPECT_NEAR(poses.front().first.Y().to<double>(), a.Y().to<double>(), 1E-9);
EXPECT_NEAR(poses.front().first.Rotation().Radians().to<double>(),
a.Rotation().Radians().to<double>(), 1E-9);
EXPECT_NEAR(poses.front().first.X().value(), a.X().value(), 1E-9);
EXPECT_NEAR(poses.front().first.Y().value(), a.Y().value(), 1E-9);
EXPECT_NEAR(poses.front().first.Rotation().Radians().value(),
a.Rotation().Radians().value(), 1E-9);
// Check interior waypoints
bool interiorsGood = true;
for (auto& waypoint : waypoints) {
bool found = false;
for (auto& state : poses) {
if (std::abs(
waypoint.Distance(state.first.Translation()).to<double>()) <
if (std::abs(waypoint.Distance(state.first.Translation()).value()) <
1E-9) {
found = true;
}
@@ -84,10 +83,10 @@ class CubicHermiteSplineTest : public ::testing::Test {
EXPECT_TRUE(interiorsGood);
// Check last point.
EXPECT_NEAR(poses.back().first.X().to<double>(), b.X().to<double>(), 1E-9);
EXPECT_NEAR(poses.back().first.Y().to<double>(), b.Y().to<double>(), 1E-9);
EXPECT_NEAR(poses.back().first.Rotation().Radians().to<double>(),
b.Rotation().Radians().to<double>(), 1E-9);
EXPECT_NEAR(poses.back().first.X().value(), b.X().value(), 1E-9);
EXPECT_NEAR(poses.back().first.Y().value(), b.Y().value(), 1E-9);
EXPECT_NEAR(poses.back().first.Rotation().Radians().value(),
b.Rotation().Radians().value(), 1E-9);
static_cast<void>(duration);
}

28
wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
View File

@@ -40,25 +40,25 @@ class QuinticHermiteSplineTest : public ::testing::Test {
// Make sure the twist is under the tolerance defined by the Spline class.
auto twist = p0.first.Log(p1.first);
EXPECT_LT(std::abs(twist.dx.to<double>()),
SplineParameterizer::kMaxDx.to<double>());
EXPECT_LT(std::abs(twist.dy.to<double>()),
SplineParameterizer::kMaxDy.to<double>());
EXPECT_LT(std::abs(twist.dtheta.to<double>()),
SplineParameterizer::kMaxDtheta.to<double>());
EXPECT_LT(std::abs(twist.dx.value()),
SplineParameterizer::kMaxDx.value());
EXPECT_LT(std::abs(twist.dy.value()),
SplineParameterizer::kMaxDy.value());
EXPECT_LT(std::abs(twist.dtheta.value()),
SplineParameterizer::kMaxDtheta.value());
}
// Check first point.
EXPECT_NEAR(poses.front().first.X().to<double>(), a.X().to<double>(), 1E-9);
EXPECT_NEAR(poses.front().first.Y().to<double>(), a.Y().to<double>(), 1E-9);
EXPECT_NEAR(poses.front().first.Rotation().Radians().to<double>(),
a.Rotation().Radians().to<double>(), 1E-9);
EXPECT_NEAR(poses.front().first.X().value(), a.X().value(), 1E-9);
EXPECT_NEAR(poses.front().first.Y().value(), a.Y().value(), 1E-9);
EXPECT_NEAR(poses.front().first.Rotation().Radians().value(),
a.Rotation().Radians().value(), 1E-9);
// Check last point.
EXPECT_NEAR(poses.back().first.X().to<double>(), b.X().to<double>(), 1E-9);
EXPECT_NEAR(poses.back().first.Y().to<double>(), b.Y().to<double>(), 1E-9);
EXPECT_NEAR(poses.back().first.Rotation().Radians().to<double>(),
b.Rotation().Radians().to<double>(), 1E-9);
EXPECT_NEAR(poses.back().first.X().value(), b.X().value(), 1E-9);
EXPECT_NEAR(poses.back().first.Y().value(), b.Y().value(), 1E-9);
EXPECT_NEAR(poses.back().first.Rotation().Radians().value(),
b.Rotation().Radians().value(), 1E-9);
static_cast<void>(duration);
}