Clean up Java style (#5990)

Also make equivalent changes in C++ where applicable. Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
2026-06-20 00:51:42 +00:00 · 2023-12-03 16:21:32 -08:00
parent 66172ab288
commit 2bb1409b82
113 changed files with 426 additions and 617 deletions
--- a/wpimath/src/main/java/edu/wpi/first/math/Matrix.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/Matrix.java
@@ -288,7 +288,7 @@ public class Matrix<R extends Num, C extends Num> {
   * @return The resultant matrix.
   */
  public Matrix<R, C> div(int value) {
-    return new Matrix<>(this.m_storage.divide((double) value));
+    return new Matrix<>(this.m_storage.divide(value));
  }

  /**
@@ -488,7 +488,7 @@ public class Matrix<R extends Num, C extends Num> {
   * @return The element by element power of "this" and b.
   */
  public final Matrix<R, C> elementPower(int b) {
-    return new Matrix<>(this.m_storage.elementPower((double) b));
+    return new Matrix<>(this.m_storage.elementPower(b));
  }

  /**
@@ -545,7 +545,7 @@ public class Matrix<R extends Num, C extends Num> {
   */
  public final <R2 extends Num, C2 extends Num> Matrix<R2, C2> block(
      int height, int width, int startingRow, int startingCol) {
-    return new Matrix<R2, C2>(
+    return new Matrix<>(
        this.m_storage.extractMatrix(
            startingRow, startingRow + height, startingCol, startingCol + width));
  }
@@ -607,8 +607,7 @@ public class Matrix<R extends Num, C extends Num> {
        return new Matrix<>(new SimpleMatrix(temp.getNumRows(), temp.getNumCols()));
      }

-      throw new RuntimeException(
-          "Cholesky decomposition failed! Input matrix:\n" + m_storage.toString());
+      throw new RuntimeException("Cholesky decomposition failed! Input matrix:\n" + m_storage);
    }

    return new Matrix<>(SimpleMatrix.wrap(chol.getT(null)));
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java
@@ -16,9 +16,8 @@ import java.util.function.Function;
 * Constructs a control-affine plant inversion model-based feedforward from given model dynamics.
 *
 * <p>If given the vector valued function as f(x, u) where x is the state vector and u is the input
- * vector, the B matrix(continuous input matrix) is calculated through a {@link
- * edu.wpi.first.math.system.NumericalJacobian}. In this case f has to be control-affine (of the
- * form f(x) + Bu).
+ * vector, the B matrix(continuous input matrix) is calculated through a {@link NumericalJacobian}.
+ * In this case f has to be control-affine (of the form f(x) + Bu).
 *
 * <p>The feedforward is calculated as <strong> u_ff = B<sup>+</sup> (rDot - f(x))</strong>, where
 * <strong> B<sup>+</sup> </strong> is the pseudoinverse of B.
@@ -26,8 +25,8 @@ import java.util.function.Function;
 * <p>This feedforward does not account for a dynamic B matrix, B is either determined or supplied
 * when the feedforward is created and remains constant.
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
 */
 public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num> {
  /** The current reference state. */
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java
@@ -17,8 +17,8 @@ import org.ejml.simple.SimpleMatrix;
 * system and makes it behave like some other system. This can be used to make a drivetrain more
 * controllable during teleop driving by making it behave like a slower or more benign drivetrain.
 *
- * <p>For more on the underlying math, read appendix B.3 in
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read appendix B.3 in <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
 */
 public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outputs extends Num> {
  // Computed controller output
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java
@@ -65,8 +65,8 @@ public class LTVDifferentialDriveController {
  /**
   * Constructs a linear time-varying differential drive controller.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
   * for how to select the tolerances.
   *
   * @param plant The differential drive velocity plant.
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java
@@ -80,8 +80,8 @@ public class LTVUnicycleController {
  /**
   * Constructs a linear time-varying unicycle controller.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
   * for how to select the tolerances.
   *
   * @param qelems The maximum desired error tolerance for each state.
@@ -95,8 +95,8 @@ public class LTVUnicycleController {
  /**
   * Constructs a linear time-varying unicycle controller.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
   * for how to select the tolerances.
   *
   * @param qelems The maximum desired error tolerance for each state.
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java
@@ -17,8 +17,8 @@ import org.ejml.simple.SimpleMatrix;
 * <p>The feedforward is calculated as <strong> u_ff = B<sup>+</sup> (r_k+1 - A r_k) </strong>,
 * where <strong> B<sup>+</sup> </strong> is the pseudoinverse of B.
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
 */
 public class LinearPlantInversionFeedforward<
    States extends Num, Inputs extends Num, Outputs extends Num> {
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
@@ -19,8 +19,8 @@ import org.ejml.simple.SimpleMatrix;
 * Contains the controller coefficients and logic for a linear-quadratic regulator (LQR). LQRs use
 * the control law u = K(r - x).
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
 */
 public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num> {
  /** The current reference state. */
@@ -35,8 +35,8 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
  /**
   * Constructs a controller with the given coefficients and plant. Rho is defaulted to 1.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
   * for how to select the tolerances.
   *
   * @param plant The plant being controlled.
@@ -61,8 +61,8 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
  /**
   * Constructs a controller with the given coefficients and plant.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-intro.html#lqr-tuning</a>
   * for how to select the tolerances.
   *
   * @param A Continuous system matrix of the plant being controlled.
@@ -107,14 +107,12 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    var discB = discABPair.getSecond();

    if (!StateSpaceUtil.isStabilizable(discA, discB)) {
-      var builder = new StringBuilder("The system passed to the LQR is uncontrollable!\n\nA =\n");
-      builder
-          .append(discA.getStorage().toString())
-          .append("\nB =\n")
-          .append(discB.getStorage().toString())
-          .append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "The system passed to the LQR is uncontrollable!\n\nA =\n"
+              + discA.getStorage().toString()
+              + "\nB =\n"
+              + discB.getStorage().toString()
+              + '\n';
      MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
      throw new IllegalArgumentException(msg);
    }
@@ -258,8 +256,9 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
   * are time-delayed too long, the LQR may be unstable. However, if we know the amount of delay, we
   * can compute the control based on where the system will be after the time delay.
   *
-   * <p>See https://file.tavsys.net/control/controls-engineering-in-frc.pdf appendix C.4 for a
-   * derivation.
+   * <p>See <a
+   * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+   * appendix C.4 for a derivation.
   *
   * @param plant The plant being controlled.
   * @param dtSeconds Discretization timestep in seconds.
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
@@ -30,9 +30,9 @@ import java.util.function.BiFunction;
 * error covariance by linearizing the models around the state estimate, then applying the linear
 * Kalman filter equations.
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
 */
 public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
    implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -59,8 +59,8 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
  /**
   * Constructs an extended Kalman filter.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
   * for how to select the standard deviations.
   *
   * @param states a Nat representing the number of states.
@@ -97,8 +97,8 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
  /**
   * Constructs an extended Kalman filter.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
   * for how to select the standard deviations.
   *
   * @param states a Nat representing the number of states.
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
@@ -25,9 +25,9 @@ import edu.wpi.first.math.system.LinearSystem;
 * amount of the difference between the actual measurements and the measurements predicted by the
 * model.
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
 */
 public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
    implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -45,8 +45,8 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
  /**
   * Constructs a Kalman filter with the given plant.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
   * for how to select the standard deviations.
   *
   * @param states A Nat representing the states of the system.
@@ -82,15 +82,12 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
    var C = plant.getC();

    if (!StateSpaceUtil.isDetectable(discA, C)) {
-      var builder =
-          new StringBuilder("The system passed to the Kalman filter is unobservable!\n\nA =\n");
-      builder
-          .append(discA.getStorage().toString())
-          .append("\nC =\n")
-          .append(C.getStorage().toString())
-          .append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "The system passed to the Kalman filter is unobservable!\n\nA =\n"
+              + discA.getStorage().toString()
+              + "\nC =\n"
+              + C.getStorage().toString()
+              + '\n';
      MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
      throw new IllegalArgumentException(msg);
    }
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SteadyStateKalmanFilter.java
@@ -28,9 +28,9 @@ import edu.wpi.first.math.system.LinearSystem;
 * <p>This class assumes predict() and correct() are called in pairs, so the Kalman gain converges
 * to a steady-state value. If they aren't, use {@link KalmanFilter} instead.
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
 */
 public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num> {
  private final Nat<States> m_states;
@@ -46,8 +46,8 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
  /**
   * Constructs a steady-state Kalman filter with the given plant.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
   * for how to select the standard deviations.
   *
   * @param states A Nat representing the states of the system.
@@ -81,15 +81,12 @@ public class SteadyStateKalmanFilter<States extends Num, Inputs extends Num, Out
    var C = plant.getC();

    if (!StateSpaceUtil.isDetectable(discA, C)) {
-      var builder =
-          new StringBuilder("The system passed to the Kalman filter is unobservable!\n\nA =\n");
-      builder
-          .append(discA.getStorage().toString())
-          .append("\nC =\n")
-          .append(C.getStorage().toString())
-          .append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "The system passed to the Kalman filter is unobservable!\n\nA =\n"
+              + discA.getStorage().toString()
+              + "\nC =\n"
+              + C.getStorage().toString()
+              + '\n';
      MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
      throw new IllegalArgumentException(msg);
    }
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
@@ -31,12 +31,13 @@ import org.ejml.simple.SimpleMatrix;
 * <p>An unscented Kalman filter uses nonlinear state and measurement models. It propagates the
 * error covariance using sigma points chosen to approximate the true probability distribution.
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf chapter 9 "Stochastic control
- * theory".
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>
+ * chapter 9 "Stochastic control theory".
 *
 * <p>This class implements a square-root-form unscented Kalman filter (SR-UKF). For more
- * information about the SR-UKF, see https://www.researchgate.net/publication/3908304.
+ * information about the SR-UKF, see <a
+ * href="https://www.researchgate.net/publication/3908304">https://www.researchgate.net/publication/3908304</a>.
 */
 public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
    implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -64,8 +65,8 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
  /**
   * Constructs an Unscented Kalman Filter.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
   * for how to select the standard deviations.
   *
   * @param states A Nat representing the number of states.
@@ -104,8 +105,8 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
   * custom functions for arithmetic can be useful if you have angles in the state or measurements,
   * because they allow you to correctly account for the modular nature of angle arithmetic.
   *
-   * <p>See
-   * https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices
+   * <p>See <a
+   * href="https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices">https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-observers.html#process-and-measurement-noise-covariance-matrices</a>
   * for how to select the standard deviations.
   *
   * @param states A Nat representing the number of states.
@@ -206,7 +207,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    var qrStorage = Sbar.transpose().getStorage();

    if (!qr.decompose(qrStorage.getDDRM())) {
-      throw new RuntimeException("QR decomposition failed! Input matrix:\n" + qrStorage.toString());
+      throw new RuntimeException("QR decomposition failed! Input matrix:\n" + qrStorage);
    }

    Matrix<C, C> newS = new Matrix<>(new SimpleMatrix(qr.getR(null, true)));
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
@@ -35,9 +35,13 @@ import org.ejml.simple.SimpleMatrix;
 * PID controller out of this class!
 *
 * <p>For more on filters, we highly recommend the following articles:<br>
- * https://en.wikipedia.org/wiki/Linear_filter<br>
- * https://en.wikipedia.org/wiki/Iir_filter<br>
- * https://en.wikipedia.org/wiki/Fir_filter<br>
+ * <a
+ * href="https://en.wikipedia.org/wiki/Linear_filter">https://en.wikipedia.org/wiki/Linear_filter</a>
+ * <br>
+ * <a href="https://en.wikipedia.org/wiki/Iir_filter">https://en.wikipedia.org/wiki/Iir_filter</a>
+ * <br>
+ * <a href="https://en.wikipedia.org/wiki/Fir_filter">https://en.wikipedia.org/wiki/Fir_filter</a>
+ * <br>
 *
 * <p>Note 1: calculate() should be called by the user on a known, regular period. You can use a
 * Notifier for this or do it "inline" with code in a periodic function.
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
@@ -117,19 +117,15 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
    // Require that the rotation matrix is special orthogonal. This is true if
    // the matrix is orthogonal (RRᵀ = I) and normalized (determinant is 1).
    if (R.times(R.transpose()).minus(Matrix.eye(Nat.N3())).normF() > 1e-9) {
-      var builder = new StringBuilder("Rotation matrix isn't orthogonal\n\nR =\n");
-      builder.append(R.getStorage().toString()).append('\n');
-
-      var msg = builder.toString();
+      var msg = "Rotation matrix isn't orthogonal\n\nR =\n" + R.getStorage().toString() + '\n';
      MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
      throw new IllegalArgumentException(msg);
    }
    if (Math.abs(R.det() - 1.0) > 1e-9) {
-      var builder =
-          new StringBuilder("Rotation matrix is orthogonal but not special orthogonal\n\nR =\n");
-      builder.append(R.getStorage().toString()).append('\n');
-
-      var msg = builder.toString();
+      var msg =
+          "Rotation matrix is orthogonal but not special orthogonal\n\nR =\n"
+              + R.getStorage().toString()
+              + '\n';
      MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
      throw new IllegalArgumentException(msg);
    }
@@ -191,7 +187,6 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
      // If the dot product is 1, the two vectors point in the same direction so
      // there's no rotation. The default initialization of m_q will work.
      m_q = new Quaternion();
-      return;
    } else if (dotNorm < -1.0 + 1E-9) {
      // If the dot product is -1, the two vectors point in opposite directions
      // so a 180 degree rotation is required. Any orthogonal vector can be used
--- a/wpimath/src/main/java/edu/wpi/first/math/path/TravelingSalesman.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/path/TravelingSalesman.java
@@ -87,7 +87,7 @@ public class TravelingSalesman {
   *     array.
   */
  private <Poses extends Num> Vector<Poses> neighbor(Vector<Poses> state) {
-    var proposedState = new Vector<Poses>(state);
+    var proposedState = new Vector<>(state);

    int rangeStart = (int) (Math.random() * (state.getNumRows() - 1));
    int rangeEnd = (int) (Math.random() * (state.getNumRows() - 1));
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
@@ -25,8 +25,8 @@ import org.ejml.simple.SimpleMatrix;
 * of the controller (U is an output because that's what goes to the motors and Y is an input
 * because that's what comes back from the sensors).
 *
- * <p>For more on the underlying math, read
- * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
+ * <p>For more on the underlying math, read <a
+ * href="https://file.tavsys.net/control/controls-engineering-in-frc.pdf">https://file.tavsys.net/control/controls-engineering-in-frc.pdf</a>.
 */
 public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
  private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java
@@ -38,7 +38,7 @@ public interface TrajectoryConstraint {
  /** Represents a minimum and maximum acceleration. */
  class MinMax {
    public double minAccelerationMetersPerSecondSq = -Double.MAX_VALUE;
-    public double maxAccelerationMetersPerSecondSq = +Double.MAX_VALUE;
+    public double maxAccelerationMetersPerSecondSq = Double.MAX_VALUE;

    /**
     * Constructs a MinMax.