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[wpimath] Fix clang-tidy warnings (#5403)

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This commit is contained in:
Tyler Veness
2023-06-20 11:35:15 -07:00
committed by GitHub
parent eb3810c765
commit 3a0e484691
7 changed files with 17 additions and 14 deletions
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5
wpimath/src/main/native/cpp/controller/BangBangController.cpp
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@@ -11,10 +11,7 @@
using namespace frc;
BangBangController::BangBangController(double tolerance)
: m_tolerance(tolerance) {
static int instances = 0;
instances++;
}
: m_tolerance(tolerance) {}
void BangBangController::SetSetpoint(double setpoint) {
m_setpoint = setpoint;

5
wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveKinematicsConstraint.cpp
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@@ -7,9 +7,8 @@
using namespace frc;
DifferentialDriveKinematicsConstraint::DifferentialDriveKinematicsConstraint(
const DifferentialDriveKinematics& kinematics,
units::meters_per_second_t maxSpeed)
: m_kinematics(kinematics), m_maxSpeed(maxSpeed) {}
DifferentialDriveKinematics kinematics, units::meters_per_second_t maxSpeed)
: m_kinematics(std::move(kinematics)), m_maxSpeed(maxSpeed) {}
units::meters_per_second_t DifferentialDriveKinematicsConstraint::MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,

4
wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
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@@ -15,9 +15,9 @@ using namespace frc;
DifferentialDriveVoltageConstraint::DifferentialDriveVoltageConstraint(
const SimpleMotorFeedforward<units::meter>& feedforward,
const DifferentialDriveKinematics& kinematics, units::volt_t maxVoltage)
DifferentialDriveKinematics kinematics, units::volt_t maxVoltage)
: m_feedforward(feedforward),
m_kinematics(kinematics),
m_kinematics(std::move(kinematics)),
m_maxVoltage(maxVoltage) {}
units::meters_per_second_t DifferentialDriveVoltageConstraint::MaxVelocity(

2
wpimath/src/main/native/include/frc/filter/LinearFilter.h
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@@ -95,7 +95,7 @@ class LinearFilter {
static int instances = 0;
instances++;
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kFilter_Linear, 1);
wpi::math::MathUsageId::kFilter_Linear, instances);
}
/**

5
wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h
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@@ -20,9 +20,8 @@ namespace frc {
class WPILIB_DLLEXPORT DifferentialDriveKinematicsConstraint
: public TrajectoryConstraint {
public:
DifferentialDriveKinematicsConstraint(
const DifferentialDriveKinematics& kinematics,
units::meters_per_second_t maxSpeed);
DifferentialDriveKinematicsConstraint(DifferentialDriveKinematics kinematics,
units::meters_per_second_t maxSpeed);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,

2
wpimath/src/main/native/include/frc/trajectory/constraint/DifferentialDriveVoltageConstraint.h
View File

@@ -34,7 +34,7 @@ class WPILIB_DLLEXPORT DifferentialDriveVoltageConstraint
*/
DifferentialDriveVoltageConstraint(
const SimpleMotorFeedforward<units::meter>& feedforward,
const DifferentialDriveKinematics& kinematics, units::volt_t maxVoltage);
DifferentialDriveKinematics kinematics, units::volt_t maxVoltage);
units::meters_per_second_t MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,

8
wpimath/src/test/native/cpp/DARETest.cpp
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@@ -71,6 +71,7 @@ void ExpectDARESolution(const Eigen::Ref<const Eigen::MatrixXd>& A,
ExpectMatrixEqual(Y, Eigen::MatrixXd::Zero(X.rows(), X.cols()), 1e-10);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, NonInvertibleA_ABQR) {
// Example 2 of "On the Numerical Solution of the Discrete-Time Algebraic
// Riccati Equation"
@@ -90,6 +91,7 @@ TEST(DARETest, NonInvertibleA_ABQR) {
ExpectDARESolution(A, B, Q, R, X);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, NonInvertibleA_ABQRN) {
// Example 2 of "On the Numerical Solution of the Discrete-Time Algebraic
// Riccati Equation"
@@ -115,6 +117,7 @@ TEST(DARETest, NonInvertibleA_ABQRN) {
ExpectDARESolution(A, B, Q, R, N, X);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, InvertibleA_ABQR) {
Eigen::MatrixXd A{2, 2};
A << 1, 1, 0, 1;
@@ -131,6 +134,7 @@ TEST(DARETest, InvertibleA_ABQR) {
ExpectDARESolution(A, B, Q, R, X);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, InvertibleA_ABQRN) {
Eigen::MatrixXd A{2, 2};
A << 1, 1, 0, 1;
@@ -153,6 +157,7 @@ TEST(DARETest, InvertibleA_ABQRN) {
ExpectDARESolution(A, B, Q, R, N, X);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQR) {
// The first generalized eigenvalue of (S, T) is stable
@@ -171,6 +176,7 @@ TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQR) {
ExpectDARESolution(A, B, Q, R, X);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQRN) {
// The first generalized eigenvalue of (S, T) is stable
@@ -195,6 +201,7 @@ TEST(DARETest, FirstGeneralizedEigenvalueOfSTIsStable_ABQRN) {
ExpectDARESolution(A, B, Q, R, N, X);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, IdentitySystem_ABQR) {
const Eigen::MatrixXd A{Eigen::Matrix2d::Identity()};
const Eigen::MatrixXd B{Eigen::Matrix2d::Identity()};
@@ -207,6 +214,7 @@ TEST(DARETest, IdentitySystem_ABQR) {
ExpectDARESolution(A, B, Q, R, X);
}
// NOLINTNEXTLINE (google-readability-avoid-underscore-in-googletest-name)
TEST(DARETest, IdentitySystem_ABQRN) {
const Eigen::MatrixXd A{Eigen::Matrix2d::Identity()};
const Eigen::MatrixXd B{Eigen::Matrix2d::Identity()};