[sysid] Remove unused includes and inline short functions (#7296)

sysid/src/main/native/cpp/Util.cpp

@@ -58,24 +58,6 @@ void sysid::CreateErrorPopup(bool& isError, std::string_view errorMessage) {
   }
 }
 
-std::string_view sysid::GetAbbreviation(std::string_view unit) {
-  if (unit == "Meters") {
-    return "m";
-  } else if (unit == "Feet") {
-    return "ft";
-  } else if (unit == "Inches") {
-    return "in";
-  } else if (unit == "Radians") {
-    return "rad";
-  } else if (unit == "Degrees") {
-    return "deg";
-  } else if (unit == "Rotations") {
-    return "rot";
-  } else {
-    throw std::runtime_error("Invalid Unit");
-  }
-}
-
 void sysid::SaveFile(std::string_view contents,
                      const std::filesystem::path& path) {
   // Create the path if it doesn't already exist.

sysid/src/main/native/cpp/analysis/AnalysisManager.cpp

@@ -15,6 +15,7 @@
 #include <wpi/StringExtras.h>
 #include <wpi/StringMap.h>
 
+#include "sysid/analysis/FeedforwardAnalysis.h"
 #include "sysid/analysis/FilteringUtils.h"
 
 using namespace sysid;

sysid/src/main/native/cpp/analysis/AnalysisType.cpp

@@ -1,17 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "sysid/analysis/AnalysisType.h"
-
-using namespace sysid;
-
-AnalysisType sysid::analysis::FromName(std::string_view name) {
-  if (name == "Elevator") {
-    return sysid::analysis::kElevator;
-  }
-  if (name == "Arm") {
-    return sysid::analysis::kArm;
-  }
-  return sysid::analysis::kSimple;
-}

sysid/src/main/native/cpp/analysis/TrackWidthAnalysis.cpp

@@ -1,12 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "sysid/analysis/TrackWidthAnalysis.h"
-
-#include <cmath>
-
-double sysid::CalculateTrackWidth(double l, double r, units::radian_t accum) {
-  // The below comes from solving ω = (vr − vl) / 2r for 2r.
-  return (std::abs(r) + std::abs(l)) / std::abs(accum.value());
-}

sysid/src/main/native/include/sysid/Util.h

@@ -7,7 +7,7 @@
 #include <algorithm>
 #include <array>
 #include <filesystem>
-#include <string>
+#include <stdexcept>
 #include <string_view>
 
 // The generated AppleScript by portable-file-dialogs for just *.json does not
@@ -67,7 +67,23 @@ void CreateErrorPopup(bool& isError, std::string_view errorMessage);
  * @param unit The unit to return the abbreviation for.
  * @return The abbreviation for the unit.
  */
-std::string_view GetAbbreviation(std::string_view unit);
+constexpr std::string_view GetAbbreviation(std::string_view unit) {
+  if (unit == "Meters") {
+    return "m";
+  } else if (unit == "Feet") {
+    return "ft";
+  } else if (unit == "Inches") {
+    return "in";
+  } else if (unit == "Radians") {
+    return "rad";
+  } else if (unit == "Degrees") {
+    return "deg";
+  } else if (unit == "Rotations") {
+    return "rot";
+  } else {
+    throw std::runtime_error("Invalid Unit");
+  }
+}
 
 /**
  * Saves a file with the provided contents to a specified location.

sysid/src/main/native/include/sysid/analysis/AnalysisManager.h

@@ -9,10 +9,8 @@
 #include <exception>
 #include <limits>
 #include <numeric>
-#include <optional>
 #include <string>
 #include <string_view>
-#include <tuple>
 #include <vector>
 
 #include <units/time.h>
@@ -23,7 +21,7 @@
 #include "sysid/analysis/AnalysisType.h"
 #include "sysid/analysis/FeedbackAnalysis.h"
 #include "sysid/analysis/FeedbackControllerPreset.h"
-#include "sysid/analysis/FeedforwardAnalysis.h"
+#include "sysid/analysis/OLS.h"
 #include "sysid/analysis/Storage.h"
 
 namespace sysid {

sysid/src/main/native/include/sysid/analysis/AnalysisType.h

@@ -56,6 +56,14 @@ inline constexpr AnalysisType kElevator{4, 4, "Elevator"};
 inline constexpr AnalysisType kArm{5, 4, "Arm"};
 inline constexpr AnalysisType kSimple{3, 4, "Simple"};
 
-AnalysisType FromName(std::string_view name);
+constexpr AnalysisType FromName(std::string_view name) {
+  if (name == "Elevator") {
+    return sysid::analysis::kElevator;
+  }
+  if (name == "Arm") {
+    return sysid::analysis::kArm;
+  }
+  return sysid::analysis::kSimple;
+}
 }  // namespace analysis
 }  // namespace sysid

sysid/src/main/native/include/sysid/analysis/FeedforwardAnalysis.h

@@ -5,8 +5,7 @@
 #pragma once
 
 #include <string>
-#include <tuple>
-#include <vector>
+#include <string_view>
 
 #include "sysid/analysis/AnalysisType.h"
 #include "sysid/analysis/OLS.h"

sysid/src/main/native/include/sysid/analysis/FilteringUtils.h

@@ -4,14 +4,12 @@
 
 #pragma once
 
-#include <algorithm>
 #include <cmath>
 #include <exception>
 #include <functional>
 #include <string>
 #include <string_view>
 #include <tuple>
-#include <utility>
 #include <vector>
 
 #include <fmt/format.h>

sysid/src/main/native/include/sysid/analysis/OLS.h

@@ -4,7 +4,6 @@
 
 #pragma once
 
-#include <cstddef>
 #include <vector>
 
 #include <Eigen/Core>

sysid/src/main/native/include/sysid/analysis/SimpleMotorSim.h

@@ -9,6 +9,7 @@
 #include <units/voltage.h>
 
 namespace sysid {
+
 /**
  * Simulation of a Simple Motor mechanism based off of a model from SysId
  * Feedforward gains.

sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h

@@ -4,9 +4,11 @@
 
 #pragma once
 
+#include <gcem.hpp>
 #include <units/angle.h>
 
 namespace sysid {
+
 /**
  * Calculates the track width given the left distance, right distance, and
  * accumulated gyro angle.
@@ -15,5 +17,10 @@ namespace sysid {
  * @param r     The distance traveled by the right side of the drivetrain.
  * @param accum The accumulated gyro angle.
  */
-double CalculateTrackWidth(double l, double r, units::radian_t accum);
+constexpr double CalculateTrackWidth(double l, double r,
+                                     units::radian_t accum) {
+  // The below comes from solving ω = (vr − vl) / 2r for 2r.
+  return (gcem::abs(r) + gcem::abs(l)) / gcem::abs(accum.value());
+}
+
 }  // namespace sysid

sysid/src/main/native/include/sysid/view/Analyzer.h

@@ -4,13 +4,10 @@
 
 #pragma once
 
-#include <functional>
 #include <memory>
-#include <optional>
 #include <string>
 #include <string_view>
 #include <thread>
-#include <vector>
 
 #include <glass/View.h>
 #include <implot.h>
@@ -21,7 +18,6 @@
 #include <wpi/StringMap.h>
 
 #include "sysid/analysis/AnalysisManager.h"
-#include "sysid/analysis/AnalysisType.h"
 #include "sysid/analysis/FeedbackAnalysis.h"
 #include "sysid/analysis/FeedbackControllerPreset.h"
 #include "sysid/view/AnalyzerPlot.h"