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

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.

wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java

@@ -11,7 +11,7 @@ import org.ejml.simple.SimpleMatrix;
 import org.junit.jupiter.api.Test;
 
 @SuppressWarnings({"ParameterName", "LocalVariableName"})
-public class DrakeTest {
+class DrakeTest {
   public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
     for (int i = 0; i < A.numRows(); i++) {
       for (int j = 0; j < A.numCols(); j++) {
@@ -49,7 +49,7 @@ public class DrakeTest {
   }
 
   @Test
-  public void testDiscreteAlgebraicRicattiEquation() {
+  void testDiscreteAlgebraicRicattiEquation() {
     int n1 = 4;
     int m1 = 1;
 

wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java

@@ -15,7 +15,7 @@ import edu.wpi.first.math.numbers.N4;
 import org.ejml.data.SingularMatrixException;
 import org.junit.jupiter.api.Test;
 
-public class MatrixTest {
+class MatrixTest {
   @Test
   void testMatrixMultiplication() {
     var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 0.0, 1.0);

wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java

@@ -18,9 +18,9 @@ import org.ejml.dense.row.MatrixFeatures_DDRM;
 import org.ejml.simple.SimpleMatrix;
 import org.junit.jupiter.api.Test;
 
-public class StateSpaceUtilTest {
+class StateSpaceUtilTest {
   @Test
-  public void testCostArray() {
+  void testCostArray() {
     var mat = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(1.0, 2.0, 3.0));
 
     assertEquals(1.0, mat.get(0, 0), 1e-3);
@@ -35,7 +35,7 @@ public class StateSpaceUtilTest {
   }
 
   @Test
-  public void testCovArray() {
+  void testCovArray() {
     var mat = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), VecBuilder.fill(1.0, 2.0, 3.0));
 
     assertEquals(1.0, mat.get(0, 0), 1e-3);
@@ -51,7 +51,7 @@ public class StateSpaceUtilTest {
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testIsStabilizable() {
+  void testIsStabilizable() {
     Matrix<N2, N2> A;
     Matrix<N2, N1> B = VecBuilder.fill(0, 1);
 
@@ -78,7 +78,7 @@ public class StateSpaceUtilTest {
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testIsDetectable() {
+  void testIsDetectable() {
     Matrix<N2, N2> A;
     Matrix<N1, N2> C = Matrix.mat(Nat.N1(), Nat.N2()).fill(0, 1);
 
@@ -104,7 +104,7 @@ public class StateSpaceUtilTest {
   }
 
   @Test
-  public void testMakeWhiteNoiseVector() {
+  void testMakeWhiteNoiseVector() {
     var firstData = new ArrayList<Double>();
     var secondData = new ArrayList<Double>();
     for (int i = 0; i < 1000; i++) {
@@ -135,7 +135,7 @@ public class StateSpaceUtilTest {
   }
 
   @Test
-  public void testMatrixExp() {
+  void testMatrixExp() {
     Matrix<N2, N2> wrappedMatrix = Matrix.eye(Nat.N2());
     var wrappedResult = wrappedMatrix.exp();
 
@@ -152,7 +152,7 @@ public class StateSpaceUtilTest {
   }
 
   @Test
-  public void testSimpleMatrixExp() {
+  void testSimpleMatrixExp() {
     SimpleMatrix matrix = SimpleMatrixUtils.eye(2);
     var result = SimpleMatrixUtils.exp(matrix);
 
@@ -175,7 +175,7 @@ public class StateSpaceUtilTest {
   }
 
   @Test
-  public void testPoseToVector() {
+  void testPoseToVector() {
     Pose2d pose = new Pose2d(1, 2, new Rotation2d(3));
     var vector = StateSpaceUtil.poseToVector(pose);
     assertEquals(pose.getTranslation().getX(), vector.get(0, 0), 1e-6);

wpimath/src/test/java/edu/wpi/first/math/controller/BangBangInputOutputTest.java

@@ -9,7 +9,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 
-public class BangBangInputOutputTest {
+class BangBangInputOutputTest {
   private BangBangController m_controller;
 
   @BeforeEach

wpimath/src/test/java/edu/wpi/first/math/controller/BangBangToleranceTest.java

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 
-public class BangBangToleranceTest {
+class BangBangToleranceTest {
   private BangBangController m_controller;
 
   @BeforeEach

wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java

@@ -11,10 +11,10 @@ import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 import org.junit.jupiter.api.Test;
 
-public class LinearQuadraticRegulatorTest {
+class LinearQuadraticRegulatorTest {
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testLQROnElevator() {
+  void testLQROnElevator() {
     var motors = DCMotor.getVex775Pro(2);
 
     var m = 5.0;
@@ -36,7 +36,7 @@ public class LinearQuadraticRegulatorTest {
   }
 
   @Test
-  public void testFourMotorElevator() {
+  void testFourMotorElevator() {
     var dt = 0.020;
 
     var plant =
@@ -52,7 +52,7 @@ public class LinearQuadraticRegulatorTest {
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testLQROnArm() {
+  void testLQROnArm() {
     var motors = DCMotor.getVex775Pro(2);
 
     var m = 4.0;
@@ -74,7 +74,7 @@ public class LinearQuadraticRegulatorTest {
   }
 
   @Test
-  public void testLatencyCompensate() {
+  void testLatencyCompensate() {
     var dt = 0.02;
 
     var plant =

wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java

@@ -21,8 +21,8 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import java.util.Random;
 import org.junit.jupiter.api.Test;
 
-public class LinearSystemLoopTest {
-  public static final double kDt = 0.00505;
+class LinearSystemLoopTest {
+  private static final double kDt = 0.00505;
   private static final double kPositionStddev = 0.0001;
   private static final Random random = new Random();
 
@@ -51,7 +51,7 @@ public class LinearSystemLoopTest {
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testStateSpaceEnabled() {
+  void testStateSpaceEnabled() {
     m_loop.reset(VecBuilder.fill(0, 0));
     Matrix<N2, N1> references = VecBuilder.fill(2.0, 0.0);
     var constraints = new TrapezoidProfile.Constraints(4, 3);
@@ -80,7 +80,7 @@ public class LinearSystemLoopTest {
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testFlywheelEnabled() {
+  void testFlywheelEnabled() {
     LinearSystem<N1, N1, N1> plant =
         LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00289, 1.0);
     KalmanFilter<N1, N1, N1> observer =

wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java

@@ -11,9 +11,9 @@ import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
 import org.junit.jupiter.api.Test;
 
-public class AngleStatisticsTest {
+class AngleStatisticsTest {
   @Test
-  public void testMean() {
+  void testMean() {
     // 3 states, 2 sigmas
     var sigmas =
         Matrix.mat(Nat.N3(), Nat.N2()).fill(1, 1.2, Math.toRadians(359), Math.toRadians(3), 1, 2);
@@ -27,7 +27,7 @@ public class AngleStatisticsTest {
   }
 
   @Test
-  public void testResidual() {
+  void testResidual() {
     var first = VecBuilder.fill(1, Math.toRadians(1), 2);
     var second = VecBuilder.fill(1, Math.toRadians(359), 1);
     assertTrue(
@@ -36,7 +36,7 @@ public class AngleStatisticsTest {
   }
 
   @Test
-  public void testAdd() {
+  void testAdd() {
     var first = VecBuilder.fill(1, Math.toRadians(1), 2);
     var second = VecBuilder.fill(1, Math.toRadians(359), 1);
     assertTrue(AngleStatistics.angleAdd(first, second, 1).isEqual(VecBuilder.fill(2, 0, 3), 1e-6));

wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java

@@ -21,10 +21,10 @@ import java.util.List;
 import java.util.Random;
 import org.junit.jupiter.api.Test;
 
-public class DifferentialDrivePoseEstimatorTest {
+class DifferentialDrivePoseEstimatorTest {
   @SuppressWarnings("LocalVariableName")
   @Test
-  public void testAccuracy() {
+  void testAccuracy() {
     var estimator =
         new DifferentialDrivePoseEstimator(
             new Rotation2d(),

wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java

@@ -27,8 +27,8 @@ import java.util.List;
 import org.junit.jupiter.api.Test;
 
 @SuppressWarnings("ParameterName")
-public class ExtendedKalmanFilterTest {
-  public static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N2, N1> u) {
+class ExtendedKalmanFilterTest {
+  private static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N2, N1> u) {
     final var motors = DCMotor.getCIM(2);
 
     final var gr = 7.08; // Gear ratio
@@ -58,17 +58,19 @@ public class ExtendedKalmanFilterTest {
     return result;
   }
 
-  public static Matrix<N3, N1> getLocalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
+  @SuppressWarnings("PMD.UnusedFormalParameter")
+  private static Matrix<N3, N1> getLocalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
     return VecBuilder.fill(x.get(2, 0), x.get(3, 0), x.get(4, 0));
   }
 
-  public static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
+  @SuppressWarnings("PMD.UnusedFormalParameter")
+  private static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
     return VecBuilder.fill(x.get(0, 0), x.get(1, 0), x.get(2, 0), x.get(3, 0), x.get(4, 0));
   }
 
   @SuppressWarnings("LocalVariableName")
   @Test
-  public void testInit() {
+  void testInit() {
     double dtSeconds = 0.00505;
 
     assertDoesNotThrow(
@@ -99,7 +101,7 @@ public class ExtendedKalmanFilterTest {
 
   @SuppressWarnings("LocalVariableName")
   @Test
-  public void testConvergence() {
+  void testConvergence() {
     double dtSeconds = 0.00505;
     double rbMeters = 0.8382 / 2.0; // Robot radius
 

wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java

@@ -25,7 +25,7 @@ import java.util.List;
 import java.util.Random;
 import org.junit.jupiter.api.Test;
 
-public class KalmanFilterTest {
+class KalmanFilterTest {
   private static LinearSystem<N2, N1, N1> elevatorPlant;
 
   private static final double kDt = 0.00505;
@@ -35,7 +35,7 @@ public class KalmanFilterTest {
   }
 
   @SuppressWarnings("LocalVariableName")
-  public static void createElevator() {
+  private static void createElevator() {
     var motors = DCMotor.getVex775Pro(2);
 
     var m = 5.0;
@@ -62,7 +62,7 @@ public class KalmanFilterTest {
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testElevatorKalmanFilter() {
+  void testElevatorKalmanFilter() {
     var Q = VecBuilder.fill(0.05, 1.0);
     var R = VecBuilder.fill(0.0001);
 
@@ -70,7 +70,7 @@ public class KalmanFilterTest {
   }
 
   @Test
-  public void testSwerveKFStationary() {
+  void testSwerveKFStationary() {
     var random = new Random();
 
     var filter =
@@ -99,7 +99,7 @@ public class KalmanFilterTest {
   }
 
   @Test
-  public void testSwerveKFMovingWithoutAccelerating() {
+  void testSwerveKFMovingWithoutAccelerating() {
     var random = new Random();
 
     var filter =
@@ -137,7 +137,7 @@ public class KalmanFilterTest {
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testSwerveKFMovingOverTrajectory() {
+  void testSwerveKFMovingOverTrajectory() {
     var random = new Random();
 
     var filter =

wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java

@@ -18,10 +18,10 @@ import java.util.List;
 import java.util.Random;
 import org.junit.jupiter.api.Test;
 
-public class MecanumDrivePoseEstimatorTest {
+class MecanumDrivePoseEstimatorTest {
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testAccuracy() {
+  void testAccuracy() {
     var kinematics =
         new MecanumDriveKinematics(
             new Translation2d(1, 1), new Translation2d(1, -1),

wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java

@@ -11,9 +11,9 @@ import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
 import org.junit.jupiter.api.Test;
 
-public class MerweScaledSigmaPointsTest {
+class MerweScaledSigmaPointsTest {
   @Test
-  public void testZeroMeanPoints() {
+  void testZeroMeanPoints() {
     var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
     var points =
         merweScaledSigmaPoints.sigmaPoints(
@@ -28,7 +28,7 @@ public class MerweScaledSigmaPointsTest {
   }
 
   @Test
-  public void testNonzeroMeanPoints() {
+  void testNonzeroMeanPoints() {
     var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
     var points =
         merweScaledSigmaPoints.sigmaPoints(

wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java

@@ -18,10 +18,10 @@ import java.util.List;
 import java.util.Random;
 import org.junit.jupiter.api.Test;
 
-public class SwerveDrivePoseEstimatorTest {
+class SwerveDrivePoseEstimatorTest {
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testAccuracy() {
+  void testAccuracy() {
     var kinematics =
         new SwerveDriveKinematics(
             new Translation2d(1, 1),

wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java

@@ -29,9 +29,9 @@ import java.util.Arrays;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
-public class UnscentedKalmanFilterTest {
+class UnscentedKalmanFilterTest {
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
-  public static Matrix<N6, N1> getDynamics(Matrix<N6, N1> x, Matrix<N2, N1> u) {
+  private static Matrix<N6, N1> getDynamics(Matrix<N6, N1> x, Matrix<N2, N1> u) {
     var motors = DCMotor.getCIM(2);
 
     var gHigh = 7.08;
@@ -69,19 +69,19 @@ public class UnscentedKalmanFilterTest {
         k2 * ((C1 * vl) + (C2 * Vl)) + k1 * ((C1 * vr) + (C2 * Vr)));
   }
 
-  @SuppressWarnings("ParameterName")
-  public static Matrix<N4, N1> getLocalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
+  @SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
+  private static Matrix<N4, N1> getLocalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
     return VecBuilder.fill(x.get(2, 0), x.get(3, 0), x.get(4, 0), x.get(5, 0));
   }
 
-  @SuppressWarnings("ParameterName")
-  public static Matrix<N6, N1> getGlobalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
+  @SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
+  private static Matrix<N6, N1> getGlobalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
     return x.copy();
   }
 
   @Test
   @SuppressWarnings("LocalVariableName")
-  public void testInit() {
+  void testInit() {
     assertDoesNotThrow(
         () -> {
           UnscentedKalmanFilter<N6, N2, N4> observer =
@@ -104,7 +104,7 @@ public class UnscentedKalmanFilterTest {
 
   @SuppressWarnings("LocalVariableName")
   @Test
-  public void testConvergence() {
+  void testConvergence() {
     double dtSeconds = 0.00505;
     double rbMeters = 0.8382 / 2.0; // Robot radius
 
@@ -206,7 +206,7 @@ public class UnscentedKalmanFilterTest {
 
   @Test
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
-  public void testLinearUKF() {
+  void testLinearUKF() {
     var dt = 0.020;
     var plant = LinearSystemId.identifyVelocitySystem(0.02, 0.006);
     var observer =
@@ -236,7 +236,7 @@ public class UnscentedKalmanFilterTest {
   }
 
   @Test
-  public void testUnscentedTransform() {
+  void testUnscentedTransform() {
     // From FilterPy
     var ret =
         UnscentedKalmanFilter.unscentedTransform(

wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java

@@ -8,7 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
 
 import org.junit.jupiter.api.Test;
 
-public class MedianFilterTest {
+class MedianFilterTest {
   @Test
   void medianFilterNotFullTestEven() {
     MedianFilter filter = new MedianFilter(10);

wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import edu.wpi.first.util.WPIUtilJNI;
 import org.junit.jupiter.api.Test;
 
-public class SlewRateLimiterTest {
+class SlewRateLimiterTest {
   @Test
   void slewRateLimitTest() {
     WPIUtilJNI.enableMockTime();

wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java

@@ -53,6 +53,7 @@ class Pose2dTest {
     assertNotEquals(one, two);
   }
 
+  @Test
   void testMinus() {
     var initial = new Pose2d(0.0, 0.0, Rotation2d.fromDegrees(45.0));
     var last = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(45.0));

wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java

@@ -60,6 +60,7 @@ class Twist2dTest {
     assertNotEquals(one, two);
   }
 
+  @Test
   void testPose2dLog() {
     final var start = new Pose2d();
     final var end = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(90.0));

wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java

@@ -14,11 +14,11 @@ import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N2;
 import org.junit.jupiter.api.Test;
 
-public class DiscretizationTest {
+class DiscretizationTest {
   // Check that for a simple second-order system that we can easily analyze
   // analytically,
   @Test
-  public void testDiscretizeA() {
+  void testDiscretizeA() {
     final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
     final var x0 = VecBuilder.fill(1, 1);
 
@@ -36,7 +36,7 @@ public class DiscretizationTest {
   // Check that for a simple second-order system that we can easily analyze
   // analytically,
   @Test
-  public void testDiscretizeAB() {
+  void testDiscretizeAB() {
     final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
     final var contB = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0, 1);
 
@@ -62,7 +62,7 @@ public class DiscretizationTest {
   // Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
   //                                             0
   @Test
-  public void testDiscretizeSlowModelAQ() {
+  void testDiscretizeSlowModelAQ() {
     final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
     final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
 
@@ -91,7 +91,7 @@ public class DiscretizationTest {
   // Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
   //                                             0
   @Test
-  public void testDiscretizeFastModelAQ() {
+  void testDiscretizeFastModelAQ() {
     final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1406.29);
     final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0.0025, 0, 0, 1);
 
@@ -118,7 +118,7 @@ public class DiscretizationTest {
 
   // Test that the Taylor series discretization produces nearly identical results.
   @Test
-  public void testDiscretizeSlowModelAQTaylor() {
+  void testDiscretizeSlowModelAQTaylor() {
     final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
     final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
 
@@ -161,7 +161,7 @@ public class DiscretizationTest {
 
   // Test that the Taylor series discretization produces nearly identical results.
   @Test
-  public void testDiscretizeFastModelAQTaylor() {
+  void testDiscretizeFastModelAQTaylor() {
     final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1500);
     final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0.0025, 0, 0, 1);
 
@@ -204,7 +204,7 @@ public class DiscretizationTest {
 
   // Test that DiscretizeR() works
   @Test
-  public void testDiscretizeR() {
+  void testDiscretizeR() {
     var contR = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 0.0, 0.0, 1.0);
     var discRTruth = Matrix.mat(Nat.N2(), Nat.N2()).fill(4.0, 0.0, 0.0, 2.0);
 

wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java

@@ -16,7 +16,7 @@ import org.junit.jupiter.api.Test;
 
 class LinearSystemIDTest {
   @Test
-  public void testDrivetrainVelocitySystem() {
+  void testDrivetrainVelocitySystem() {
     var model =
         LinearSystemId.createDrivetrainVelocitySystem(DCMotor.getNEO(4), 70, 0.05, 0.4, 6.0, 6);
     assertTrue(
@@ -40,7 +40,7 @@ class LinearSystemIDTest {
   }
 
   @Test
-  public void testElevatorSystem() {
+  void testElevatorSystem() {
     var model = LinearSystemId.createElevatorSystem(DCMotor.getNEO(2), 5, 0.05, 12);
     assertTrue(
         model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -99.05473), 0.001));
@@ -53,7 +53,7 @@ class LinearSystemIDTest {
   }
 
   @Test
-  public void testFlywheelSystem() {
+  void testFlywheelSystem() {
     var model = LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00032, 1.0);
     assertTrue(model.getA().isEqual(VecBuilder.fill(-26.87032), 0.001));
 
@@ -65,7 +65,7 @@ class LinearSystemIDTest {
   }
 
   @Test
-  public void testIdentifyPositionSystem() {
+  void testIdentifyPositionSystem() {
     // By controls engineering in frc,
     // x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
     var kv = 1.0;
@@ -77,7 +77,7 @@ class LinearSystemIDTest {
   }
 
   @Test
-  public void testIdentifyVelocitySystem() {
+  void testIdentifyVelocitySystem() {
     // By controls engineering in frc,
     // V = kv * velocity + ka * acceleration
     // x-dot =  -kv/ka * v + 1/ka \cdot V

wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java

@@ -12,9 +12,9 @@ import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
 import org.junit.jupiter.api.Test;
 
-public class NumericalIntegrationTest {
+class NumericalIntegrationTest {
   @Test
-  public void testExponential() {
+  void testExponential() {
     Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
 
     var y1 =
@@ -31,7 +31,7 @@ public class NumericalIntegrationTest {
   }
 
   @Test
-  public void testExponentialRKF45() {
+  void testExponentialRKF45() {
     Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
 
     var y1 =
@@ -49,7 +49,7 @@ public class NumericalIntegrationTest {
   }
 
   @Test
-  public void testExponentialRKDP() {
+  void testExponentialRKDP() {
     Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
 
     var y1 =

wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java

@@ -12,7 +12,7 @@ import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.numbers.N1;
 import org.junit.jupiter.api.Test;
 
-public class RungeKuttaTimeVaryingTest {
+class RungeKuttaTimeVaryingTest {
   private static Matrix<N1, N1> rungeKuttaTimeVaryingSolution(double t) {
     return new MatBuilder<>(Nat.N1(), Nat.N1())
         .fill(12.0 * Math.exp(t) / (Math.pow(Math.exp(t) + 1.0, 2.0)));
@@ -26,7 +26,7 @@ public class RungeKuttaTimeVaryingTest {
   //
   // x(t) = 12 * e^t / ((e^t + 1)^2)
   @Test
-  public void rungeKuttaTimeVaryingTest() {
+  void rungeKuttaTimeVaryingTest() {
     final var y0 = rungeKuttaTimeVaryingSolution(5.0);
 
     final var y1 =

wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java

@@ -16,7 +16,7 @@ import edu.wpi.first.math.util.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
-public class EllipticalRegionConstraintTest {
+class EllipticalRegionConstraintTest {
   @Test
   void testConstraint() {
     // Create constraints

wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java

@@ -16,7 +16,7 @@ import edu.wpi.first.math.util.Units;
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
-public class RectangularRegionConstraintTest {
+class RectangularRegionConstraintTest {
   @Test
   void testConstraint() {
     // Create constraints

wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java

@@ -12,7 +12,7 @@ import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConst
 import java.util.List;
 import org.junit.jupiter.api.Test;
 
-public class TrajectoryJsonTest {
+class TrajectoryJsonTest {
   @Test
   void deserializeMatches() {
     var config =

wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java

@@ -201,7 +201,7 @@ class TrapezoidProfileTest {
     for (int i = 0; i < 400; i++) {
       profile = new TrapezoidProfile(constraints, goal, state);
       state = profile.calculate(kDt);
-      if (!reachedGoal && (Math.abs(state.velocity - 1) < 10e-5)) {
+      if (!reachedGoal && Math.abs(state.velocity - 1) < 10e-5) {
         assertNear(predictedTimeLeft, i / 100.0, 2e-2);
         reachedGoal = true;
       }
@@ -244,7 +244,7 @@ class TrapezoidProfileTest {
     for (int i = 0; i < 400; i++) {
       profile = new TrapezoidProfile(constraints, goal, state);
       state = profile.calculate(kDt);
-      if (!reachedGoal && (Math.abs(state.velocity + 1) < 10e-5)) {
+      if (!reachedGoal && Math.abs(state.velocity + 1) < 10e-5) {
         assertNear(predictedTimeLeft, i / 100.0, 2e-2);
         reachedGoal = true;
       }

wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java

@@ -64,6 +64,7 @@ class UnitsTest extends UtilityClassTest<Units> {
     assertEquals(1500, Units.secondsToMilliseconds(1.5), 1e-2);
   }
 
+  @Test
   void kilogramsToLbsTest() {
     assertEquals(2.20462, Units.kilogramsToLbs(1), 1e-2);
   }

wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java

@@ -34,19 +34,20 @@ public abstract class UtilityClassTest<T> {
   }
 
   @Test
-  public void singleConstructorTest() {
+  void singleConstructorTest() {
     assertEquals(1, m_clazz.getDeclaredConstructors().length, "More than one constructor defined");
   }
 
   @Test
-  public void constructorPrivateTest() {
+  void constructorPrivateTest() {
     Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
 
     assertFalse(constructor.canAccess(null), "Constructor is not private");
   }
 
   @Test
-  public void constructorReflectionTest() {
+  @SuppressWarnings("PMD.AvoidAccessibilityAlteration")
+  void constructorReflectionTest() {
     Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
     constructor.setAccessible(true);
     assertThrows(InvocationTargetException.class, constructor::newInstance);