Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Java optimization and formatting fixes (#4857)

Browse Source
This commit is contained in:
Sriman Achanta
2022-12-26 14:37:53 -05:00
committed by GitHub
parent 92149efa11
commit 26bdbf3d41
13 changed files with 21 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
View File

@@ -19,6 +19,7 @@ import edu.wpi.first.math.kinematics.SwerveModulePosition;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N3;
import edu.wpi.first.util.WPIUtilJNI;
import java.util.Arrays;
import java.util.Map;
import java.util.Objects;
@@ -371,13 +372,13 @@ public class SwerveDrivePoseEstimator {
}
InterpolationRecord record = (InterpolationRecord) obj;
return Objects.equals(gyroAngle, record.gyroAngle)
&& Objects.equals(modulePositions, record.modulePositions)
&& Arrays.equals(modulePositions, record.modulePositions)
&& Objects.equals(poseMeters, record.poseMeters);
}
@Override
public int hashCode() {
return Objects.hash(gyroAngle, modulePositions, poseMeters);
return Objects.hash(gyroAngle, Arrays.hashCode(modulePositions), poseMeters);
}
}
}

4
wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
View File

@@ -128,9 +128,7 @@ public class LinearFilter {
}
double[] ffGains = new double[taps];
for (int i = 0; i < ffGains.length; i++) {
ffGains[i] = 1.0 / taps;
}
Arrays.fill(ffGains, 1.0 / taps);
double[] fbGains = new double[0];

2
wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java
View File

@@ -46,7 +46,7 @@ public final class SplineHelper {
* Returns quintic splines from a set of waypoints.
*
* @param waypoints The waypoints
* @return List of splines.
* @return array of splines.
*/
public static QuinticHermiteSpline[] getQuinticSplinesFromWaypoints(List<Pose2d> waypoints) {
QuinticHermiteSpline[] splines = new QuinticHermiteSpline[waypoints.size() - 1];

3
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java
View File

@@ -15,14 +15,13 @@ import edu.wpi.first.math.spline.SplineHelper;
import edu.wpi.first.math.spline.SplineParameterizer;
import edu.wpi.first.math.spline.SplineParameterizer.MalformedSplineException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.List;
import java.util.function.BiConsumer;
public final class TrajectoryGenerator {
private static final Trajectory kDoNothingTrajectory =
new Trajectory(Arrays.asList(new Trajectory.State()));
new Trajectory(List.of(new Trajectory.State()));
private static BiConsumer<String, StackTraceElement[]> errorFunc;
/** Private constructor because this is a utility class. */