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Upgrade maven deps to latest versions and fix new linter errors (#3772)

Browse Source 
This also makes the Gradle build work with JDK 17.

The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834

PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
This commit is contained in:
Tyler Veness
2021-12-09 12:20:08 -08:00
committed by GitHub
parent 441f2ed9b0
commit 7269a170fb
100 changed files with 306 additions and 338 deletions
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9
wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
View File

@@ -104,10 +104,11 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
if (!StateSpaceUtil.isStabilizable(discA, discB)) {
var builder = new StringBuilder("The system passed to the LQR is uncontrollable!\n\nA =\n");
builder.append(discA.getStorage().toString());
builder.append("\nB =\n");
builder.append(discB.getStorage().toString());
builder.append("\n");
builder
.append(discA.getStorage().toString())
.append("\nB =\n")
.append(discB.getStorage().toString())
.append('\n');
var msg = builder.toString();
MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());

9
wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
View File

@@ -79,10 +79,11 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
if (!StateSpaceUtil.isDetectable(discA, C)) {
var builder =
new StringBuilder("The system passed to the Kalman filter is unobservable!\n\nA =\n");
builder.append(discA.getStorage().toString());
builder.append("\nC =\n");
builder.append(C.getStorage().toString());
builder.append("\n");
builder
.append(discA.getStorage().toString())
.append("\nC =\n")
.append(C.getStorage().toString())
.append('\n');
var msg = builder.toString();
MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());

7
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
View File

@@ -209,8 +209,6 @@ public class TrapezoidProfile {
endAccel = Math.max(endAccel, 0);
endFullSpeed = Math.max(endFullSpeed, 0);
double endDeccel = m_endDeccel - endAccel - endFullSpeed;
endDeccel = Math.max(endDeccel, 0);
final double acceleration = m_constraints.maxAcceleration;
final double decceleration = -m_constraints.maxAcceleration;
@@ -229,11 +227,8 @@ public class TrapezoidProfile {
deccelVelocity = velocity;
}
double deccelDist = deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
deccelDist = Math.max(deccelDist, 0);
double fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
double deccelDist;
if (accelDist > distToTarget) {
accelDist = distToTarget;