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Don't force public variables to use Hungarian notation (#8774)

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People generally have expressed a dislike for the Hungarian notation
used in member variables, especially in examples/templates, and our
styleguide shouldn't be forced on downstream consumers, so this removes
all Hungarian notation from the examples/templates.

There are _some_ benefits to Hungarian for private member variables
(like knowing what's a member vs. local in a PR review) so we'll keep
private member variables the same for now, but public variables should
no longer use Hungarian notation, since it looks much worse. A new PMD
XPath rule has been added to accomplish this goal. Some other
non-compliant variables were fixed for the new rule.
This commit is contained in:
Gold856
2026-04-25 14:32:08 -04:00
committed by GitHub
parent e7e51c9c05
commit 35e8abedeb
443 changed files with 4584 additions and 4789 deletions
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16
wpimath/src/main/java/org/wpilib/math/controller/DifferentialDriveFeedforward.java
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@@ -18,16 +18,16 @@ public class DifferentialDriveFeedforward implements ProtobufSerializable, Struc
private final LinearSystem<N2, N2, N2> m_plant;
/** The linear velocity gain in volts per (meters per second). */
public final double m_kVLinear;
public final double kVLinear;
/** The linear acceleration gain in volts per (meters per second squared). */
public final double m_kALinear;
public final double kALinear;
/** The angular velocity gain in volts per (radians per second). */
public final double m_kVAngular;
public final double kVAngular;
/** The angular acceleration gain in volts per (radians per second squared). */
public final double m_kAAngular;
public final double kAAngular;
/**
* Creates a new DifferentialDriveFeedforward with the specified parameters.
@@ -56,10 +56,10 @@ public class DifferentialDriveFeedforward implements ProtobufSerializable, Struc
public DifferentialDriveFeedforward(
double kVLinear, double kALinear, double kVAngular, double kAAngular) {
m_plant = Models.differentialDriveFromSysId(kVLinear, kALinear, kVAngular, kAAngular);
m_kVLinear = kVLinear;
m_kALinear = kALinear;
m_kVAngular = kVAngular;
m_kAAngular = kAAngular;
this.kVLinear = kVLinear;
this.kALinear = kALinear;
this.kVAngular = kVAngular;
this.kAAngular = kAAngular;
}
/**

8
wpimath/src/main/java/org/wpilib/math/controller/proto/DifferentialDriveFeedforwardProto.java
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@@ -34,9 +34,9 @@ public final class DifferentialDriveFeedforwardProto
@Override
public void pack(ProtobufDifferentialDriveFeedforward msg, DifferentialDriveFeedforward value) {
msg.setKvLinear(value.m_kVLinear);
msg.setKaLinear(value.m_kALinear);
msg.setKvAngular(value.m_kVAngular);
msg.setKaAngular(value.m_kAAngular);
msg.setKvLinear(value.kVLinear);
msg.setKaLinear(value.kALinear);
msg.setKvAngular(value.kVAngular);
msg.setKaAngular(value.kAAngular);
}
}

8
wpimath/src/main/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStruct.java
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@@ -41,9 +41,9 @@ public final class DifferentialDriveFeedforwardStruct
@Override
public void pack(ByteBuffer bb, DifferentialDriveFeedforward value) {
bb.putDouble(value.m_kVLinear);
bb.putDouble(value.m_kALinear);
bb.putDouble(value.m_kVAngular);
bb.putDouble(value.m_kAAngular);
bb.putDouble(value.kVLinear);
bb.putDouble(value.kALinear);
bb.putDouble(value.kVAngular);
bb.putDouble(value.kAAngular);
}
}

8
wpimath/src/main/native/cpp/controller/proto/DifferentialDriveFeedforwardProto.cpp
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@@ -25,10 +25,10 @@ bool wpi::util::Protobuf<wpi::math::DifferentialDriveFeedforward>::Pack(
OutputStream& stream,
const wpi::math::DifferentialDriveFeedforward& value) {
wpi_proto_ProtobufDifferentialDriveFeedforward msg{
.kv_linear = value.m_kVLinear.value(),
.ka_linear = value.m_kALinear.value(),
.kv_angular = value.m_kVAngular.value(),
.ka_angular = value.m_kAAngular.value(),
.kv_linear = value.kVLinear.value(),
.ka_linear = value.kALinear.value(),
.kv_angular = value.kVAngular.value(),
.ka_angular = value.kAAngular.value(),
};
return stream.Encode(msg);
}

8
wpimath/src/main/native/cpp/controller/struct/DifferentialDriveFeedforwardStruct.cpp
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@@ -27,8 +27,8 @@ wpi::util::Struct<wpi::math::DifferentialDriveFeedforward>::Unpack(
void wpi::util::Struct<wpi::math::DifferentialDriveFeedforward>::Pack(
std::span<uint8_t> data,
const wpi::math::DifferentialDriveFeedforward& value) {
wpi::util::PackStruct<kKvLinearOff>(data, value.m_kVLinear.value());
wpi::util::PackStruct<kKaLinearOff>(data, value.m_kALinear.value());
wpi::util::PackStruct<kKvAngularOff>(data, value.m_kVAngular.value());
wpi::util::PackStruct<kKaAngularOff>(data, value.m_kAAngular.value());
wpi::util::PackStruct<kKvLinearOff>(data, value.kVLinear.value());
wpi::util::PackStruct<kKaLinearOff>(data, value.kALinear.value());
wpi::util::PackStruct<kKvAngularOff>(data, value.kVAngular.value());
wpi::util::PackStruct<kKaAngularOff>(data, value.kAAngular.value());
}

16
wpimath/src/main/native/include/wpi/math/controller/DifferentialDriveFeedforward.hpp
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@@ -66,10 +66,10 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
decltype(1_V / 1_mps_sq) kAAngular)
: m_plant{wpi::math::Models::DifferentialDriveFromSysId(
kVLinear, kALinear, kVAngular, kAAngular)},
m_kVLinear{kVLinear},
m_kALinear{kALinear},
m_kVAngular{kVAngular},
m_kAAngular{kAAngular} {}
kVLinear{kVLinear},
kALinear{kALinear},
kVAngular{kVAngular},
kAAngular{kAAngular} {}
/**
* Calculates the differential drive feedforward inputs given velocity
@@ -92,10 +92,10 @@ class WPILIB_DLLEXPORT DifferentialDriveFeedforward {
wpi::units::meters_per_second_t nextRightVelocity,
wpi::units::second_t dt);
decltype(1_V / 1_mps) m_kVLinear;
decltype(1_V / 1_mps_sq) m_kALinear;
decltype(1_V / 1_mps) m_kVAngular;
decltype(1_V / 1_mps_sq) m_kAAngular;
decltype(1_V / 1_mps) kVLinear;
decltype(1_V / 1_mps_sq) kALinear;
decltype(1_V / 1_mps) kVAngular;
decltype(1_V / 1_mps_sq) kAAngular;
};
} // namespace wpi::math

8
wpimath/src/main/python/semiwrap/DifferentialDriveFeedforward.yml
View File

@@ -7,10 +7,10 @@ classes:
- wpi::units::radians_per_second_squared
- wpi::units::compound_unit
attributes:
m_kVLinear:
m_kALinear:
m_kVAngular:
m_kAAngular:
kVLinear:
kALinear:
kVAngular:
kAAngular:
methods:
DifferentialDriveFeedforward:
overloads:

8
wpimath/src/test/java/org/wpilib/math/controller/proto/DifferentialDriveFeedforwardProtoTest.java
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@@ -22,9 +22,9 @@ class DifferentialDriveFeedforwardProtoTest
@Override
public void checkEquals(
DifferentialDriveFeedforward testData, DifferentialDriveFeedforward data) {
assertEquals(testData.m_kVLinear, data.m_kVLinear);
assertEquals(testData.m_kALinear, data.m_kALinear);
assertEquals(testData.m_kVAngular, data.m_kVAngular);
assertEquals(testData.m_kAAngular, data.m_kAAngular);
assertEquals(testData.kVLinear, data.kVLinear);
assertEquals(testData.kALinear, data.kALinear);
assertEquals(testData.kVAngular, data.kVAngular);
assertEquals(testData.kAAngular, data.kAAngular);
}
}

8
wpimath/src/test/java/org/wpilib/math/controller/struct/DifferentialDriveFeedforwardStructTest.java
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@@ -20,9 +20,9 @@ class DifferentialDriveFeedforwardStructTest extends StructTestBase<Differential
@Override
public void checkEquals(
DifferentialDriveFeedforward testData, DifferentialDriveFeedforward data) {
assertEquals(testData.m_kVLinear, data.m_kVLinear);
assertEquals(testData.m_kALinear, data.m_kALinear);
assertEquals(testData.m_kVAngular, data.m_kVAngular);
assertEquals(testData.m_kAAngular, data.m_kAAngular);
assertEquals(testData.kVLinear, data.kVLinear);
assertEquals(testData.kALinear, data.kALinear);
assertEquals(testData.kVAngular, data.kVAngular);
assertEquals(testData.kAAngular, data.kAAngular);
}
}

8
wpimath/src/test/native/cpp/controller/proto/DifferentialDriveFeedforwardProtoTest.cpp
View File

@@ -17,10 +17,10 @@ struct DifferentialDriveFeedforwardProtoTestData {
decltype(1_V / 1_mps){4.4}, decltype(1_V / 1_mps_sq){4.5}};
static void CheckEq(const Type& testData, const Type& data) {
EXPECT_EQ(testData.m_kVLinear.value(), data.m_kVLinear.value());
EXPECT_EQ(testData.m_kALinear.value(), data.m_kALinear.value());
EXPECT_EQ(testData.m_kVAngular.value(), data.m_kVAngular.value());
EXPECT_EQ(testData.m_kAAngular.value(), data.m_kAAngular.value());
EXPECT_EQ(testData.kVLinear.value(), data.kVLinear.value());
EXPECT_EQ(testData.kALinear.value(), data.kALinear.value());
EXPECT_EQ(testData.kVAngular.value(), data.kVAngular.value());
EXPECT_EQ(testData.kAAngular.value(), data.kAAngular.value());
}
};

8
wpimath/src/test/native/cpp/controller/struct/DifferentialDriveFeedforwardStructTest.cpp
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@@ -17,10 +17,10 @@ struct DifferentialDriveFeedforwardStructTestData {
decltype(1_V / 1_mps){4.4}, decltype(1_V / 1_mps_sq){4.5}};
static void CheckEq(const Type& testData, const Type& data) {
EXPECT_EQ(testData.m_kVLinear.value(), data.m_kVLinear.value());
EXPECT_EQ(testData.m_kALinear.value(), data.m_kALinear.value());
EXPECT_EQ(testData.m_kVAngular.value(), data.m_kVAngular.value());
EXPECT_EQ(testData.m_kAAngular.value(), data.m_kAAngular.value());
EXPECT_EQ(testData.kVLinear.value(), data.kVLinear.value());
EXPECT_EQ(testData.kALinear.value(), data.kALinear.value());
EXPECT_EQ(testData.kVAngular.value(), data.kVAngular.value());
EXPECT_EQ(testData.kAAngular.value(), data.kAAngular.value());
}
};