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[ci] Upgrade to wpiformat 2025.36 (#8308)

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clang-format 21 made some formatting changes. Since wpiformat's stdlib
task was removed, I removed NOLINT comments for it and removed some
std:: prefixes it added to comments.
This commit is contained in:
Tyler Veness
2025-10-28 20:17:04 -07:00
committed by GitHub
parent a6a4912a80
commit 4aef52a117
23 changed files with 38 additions and 424 deletions
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2
wpimath/src/main/native/include/frc/StateSpaceUtil.h
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@@ -260,7 +260,7 @@ WPILIB_DLLEXPORT constexpr Eigen::Vector3d PoseTo3dVector(const Pose2d& pose) {
}
/**
* Converts a Pose2d into a vector of [x, y, std::cos(theta), std::sin(theta)].
* Converts a Pose2d into a vector of [x, y, cos(theta), sin(theta)].
*
* @param pose The pose that is being represented.
*

4
wpimath/src/main/native/include/frc/geometry/Ellipse2d.h
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@@ -91,7 +91,7 @@ class WPILIB_DLLEXPORT Ellipse2d {
auto a = units::math::max(m_xSemiAxis, m_ySemiAxis);
// Minor semi-axis
auto b = units::math::min(m_xSemiAxis, m_ySemiAxis); // NOLINT
auto b = units::math::min(m_xSemiAxis, m_ySemiAxis);
auto c = units::math::sqrt(a * a - b * b);
@@ -203,7 +203,9 @@ class WPILIB_DLLEXPORT Ellipse2d {
auto x = rotPoint.X() - m_center.X();
auto y = rotPoint.Y() - m_center.Y();
// NOLINTNEXTLINE (bugprone-integer-division)
return (x * x) / (m_xSemiAxis * m_xSemiAxis) +
// NOLINTNEXTLINE (bugprone-integer-division)
(y * y) / (m_ySemiAxis * m_ySemiAxis);
}
};

8
wpimath/src/main/native/include/frc/geometry/Pose3d.h
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@@ -432,8 +432,8 @@ constexpr Pose3d Pose3d::Exp(const Twist3d& twist) const {
B = 1 / 2.0 - thetaSq / 24 + thetaSq * thetaSq / 720;
C = 1 / 6.0 - thetaSq / 120 + thetaSq * thetaSq / 5040;
} else {
// A = std::sin(θ)/θ
// B = (1 - std::cos(θ)) / θ²
// A = sin(θ)/θ
// B = (1 - cos(θ)) / θ²
// C = (1 - A) / θ²
A = gcem::sin(theta) / theta;
B = (1 - gcem::cos(theta)) / thetaSq;
@@ -491,8 +491,8 @@ constexpr Twist3d Pose3d::Log(const Pose3d& end) const {
// https://www.wolframalpha.com/input?i2d=true&i=series+expansion+of+Divide%5B1-Divide%5BDivide%5Bsin%5C%2840%29x%5C%2841%29%2Cx%5D%2C2Divide%5B1-cos%5C%2840%29x%5C%2841%29%2CPower%5Bx%2C2%5D%5D%5D%2CPower%5Bx%2C2%5D%5D+at+x%3D0
C = 1 / 12.0 + thetaSq / 720 + thetaSq * thetaSq / 30240;
} else {
// A = std::sin(θ)/θ
// B = (1 - std::cos(θ)) / θ²
// A = sin(θ)/θ
// B = (1 - cos(θ)) / θ²
// C = (1 - A/(2*B)) / θ²
double A = gcem::sin(theta) / theta;
double B = (1 - gcem::cos(theta)) / thetaSq;

4
wpimath/src/main/native/include/frc/geometry/Quaternion.h
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@@ -296,8 +296,8 @@ class WPILIB_DLLEXPORT Quaternion {
// 𝑣⃗ = θ * v̂
// v̂ = 𝑣⃗ / θ
// 𝑞 = std::cos(θ/2) + std::sin(θ/2) * v̂
// 𝑞 = std::cos(θ/2) + std::sin(θ/2) / θ * 𝑣⃗
// 𝑞 = cos(θ/2) + sin(θ/2) * v̂
// 𝑞 = cos(θ/2) + sin(θ/2) / θ * 𝑣⃗
double theta = gcem::hypot(rvec(0), rvec(1), rvec(2));
double cos = gcem::cos(theta / 2);