From 42a433b6faae5e540e49e04dfa224809fab1d9e5 Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sun, 27 Oct 2024 23:40:26 -0700
Subject: [PATCH] [sysid] Remove unused includes and inline short functions
 (#7296)

---
 sysid/src/main/native/cpp/Util.cpp            | 18 -----------------
 .../native/cpp/analysis/AnalysisManager.cpp   |  1 +
 .../main/native/cpp/analysis/AnalysisType.cpp | 17 ----------------
 .../cpp/analysis/TrackWidthAnalysis.cpp       | 12 -----------
 sysid/src/main/native/include/sysid/Util.h    | 20 +++++++++++++++++--
 .../include/sysid/analysis/AnalysisManager.h  |  4 +---
 .../include/sysid/analysis/AnalysisType.h     | 10 +++++++++-
 .../sysid/analysis/FeedforwardAnalysis.h      |  3 +--
 .../include/sysid/analysis/FilteringUtils.h   |  2 --
 .../main/native/include/sysid/analysis/OLS.h  |  1 -
 .../include/sysid/analysis/SimpleMotorSim.h   |  1 +
 .../sysid/analysis/TrackWidthAnalysis.h       |  9 ++++++++-
 .../main/native/include/sysid/view/Analyzer.h |  4 ----
 13 files changed, 39 insertions(+), 63 deletions(-)
 delete mode 100644 sysid/src/main/native/cpp/analysis/AnalysisType.cpp
 delete mode 100644 sysid/src/main/native/cpp/analysis/TrackWidthAnalysis.cpp

diff --git a/sysid/src/main/native/cpp/Util.cpp b/sysid/src/main/native/cpp/Util.cpp
index fcd27c4948..7717e5ad35 100644
--- a/sysid/src/main/native/cpp/Util.cpp
+++ b/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.
diff --git a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp b/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
index 11137a3186..c97485330d 100644
--- a/sysid/src/main/native/cpp/analysis/AnalysisManager.cpp
+++ b/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;
diff --git a/sysid/src/main/native/cpp/analysis/AnalysisType.cpp b/sysid/src/main/native/cpp/analysis/AnalysisType.cpp
deleted file mode 100644
index 6ef27c9387..0000000000
--- a/sysid/src/main/native/cpp/analysis/AnalysisType.cpp
+++ /dev/null
@@ -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;
-}
diff --git a/sysid/src/main/native/cpp/analysis/TrackWidthAnalysis.cpp b/sysid/src/main/native/cpp/analysis/TrackWidthAnalysis.cpp
deleted file mode 100644
index eebfe8c676..0000000000
--- a/sysid/src/main/native/cpp/analysis/TrackWidthAnalysis.cpp
+++ /dev/null
@@ -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());
-}
diff --git a/sysid/src/main/native/include/sysid/Util.h b/sysid/src/main/native/include/sysid/Util.h
index 500601c971..716b7dc19e 100644
--- a/sysid/src/main/native/include/sysid/Util.h
+++ b/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.
diff --git a/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h b/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h
index 766b8b78f6..95ed86de8e 100644
--- a/sysid/src/main/native/include/sysid/analysis/AnalysisManager.h
+++ b/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 {
diff --git a/sysid/src/main/native/include/sysid/analysis/AnalysisType.h b/sysid/src/main/native/include/sysid/analysis/AnalysisType.h
index 5a30d7ca86..e523b1776c 100644
--- a/sysid/src/main/native/include/sysid/analysis/AnalysisType.h
+++ b/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
diff --git a/sysid/src/main/native/include/sysid/analysis/FeedforwardAnalysis.h b/sysid/src/main/native/include/sysid/analysis/FeedforwardAnalysis.h
index d2503ce5cc..f67d6faac1 100644
--- a/sysid/src/main/native/include/sysid/analysis/FeedforwardAnalysis.h
+++ b/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"
diff --git a/sysid/src/main/native/include/sysid/analysis/FilteringUtils.h b/sysid/src/main/native/include/sysid/analysis/FilteringUtils.h
index 76411158b4..67266ae647 100644
--- a/sysid/src/main/native/include/sysid/analysis/FilteringUtils.h
+++ b/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>
diff --git a/sysid/src/main/native/include/sysid/analysis/OLS.h b/sysid/src/main/native/include/sysid/analysis/OLS.h
index 28b6d5704a..dc9395d6af 100644
--- a/sysid/src/main/native/include/sysid/analysis/OLS.h
+++ b/sysid/src/main/native/include/sysid/analysis/OLS.h
@@ -4,7 +4,6 @@
 
 #pragma once
 
-#include <cstddef>
 #include <vector>
 
 #include <Eigen/Core>
diff --git a/sysid/src/main/native/include/sysid/analysis/SimpleMotorSim.h b/sysid/src/main/native/include/sysid/analysis/SimpleMotorSim.h
index 920810ffed..58d9683da8 100644
--- a/sysid/src/main/native/include/sysid/analysis/SimpleMotorSim.h
+++ b/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.
diff --git a/sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h b/sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h
index b0220721e8..d086022bff 100644
--- a/sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h
+++ b/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
diff --git a/sysid/src/main/native/include/sysid/view/Analyzer.h b/sysid/src/main/native/include/sysid/view/Analyzer.h
index 330bf0a61f..bb7763f26f 100644
--- a/sysid/src/main/native/include/sysid/view/Analyzer.h
+++ b/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"