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[wpiutil] Remove type param from ProtobufSerializable and StructSerializable (#6122)

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This commit is contained in:
Joseph Eng
2023-12-31 14:36:11 -08:00
committed by GitHub
parent c34debe012
commit 938bf45fd9
27 changed files with 32 additions and 56 deletions
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3
wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java
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@@ -13,8 +13,7 @@ import edu.wpi.first.util.struct.StructSerializable;
* A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting
* against the force of gravity on a beam suspended at an angle).
*/
public class ArmFeedforward
implements ProtobufSerializable<ArmFeedforward>, StructSerializable<ArmFeedforward> {
public class ArmFeedforward implements ProtobufSerializable, StructSerializable {
public final double ks;
public final double kg;
public final double kv;

4
wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java
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@@ -10,9 +10,7 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
/** Motor voltages for a differential drive. */
public class DifferentialDriveWheelVoltages
implements ProtobufSerializable<DifferentialDriveWheelVoltages>,
StructSerializable<DifferentialDriveWheelVoltages> {
public class DifferentialDriveWheelVoltages implements ProtobufSerializable, StructSerializable {
public double left;
public double right;

3
wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java
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@@ -16,8 +16,7 @@ import edu.wpi.first.util.struct.StructSerializable;
* A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
* against the force of gravity).
*/
public class ElevatorFeedforward
implements ProtobufSerializable<ElevatorFeedforward>, StructSerializable<ElevatorFeedforward> {
public class ElevatorFeedforward implements ProtobufSerializable, StructSerializable {
public final double ks;
public final double kg;
public final double kv;

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
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@@ -25,8 +25,7 @@ import java.util.Objects;
/** Represents a 2D pose containing translational and rotational elements. */
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Pose2d
implements Interpolatable<Pose2d>, ProtobufSerializable<Pose2d>, StructSerializable<Pose2d> {
public class Pose2d implements Interpolatable<Pose2d>, ProtobufSerializable, StructSerializable {
private final Translation2d m_translation;
private final Rotation2d m_rotation;

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
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@@ -19,8 +19,7 @@ import java.util.Objects;
/** Represents a 3D pose containing translational and rotational elements. */
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Pose3d
implements Interpolatable<Pose3d>, ProtobufSerializable<Pose3d>, StructSerializable<Pose3d> {
public class Pose3d implements Interpolatable<Pose3d>, ProtobufSerializable, StructSerializable {
private final Translation3d m_translation;
private final Rotation3d m_rotation;

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Quaternion.java
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@@ -19,8 +19,7 @@ import java.util.Objects;
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Quaternion
implements ProtobufSerializable<Quaternion>, StructSerializable<Quaternion> {
public class Quaternion implements ProtobufSerializable, StructSerializable {
// Scalar r in versor form
private final double m_w;

4
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
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@@ -31,9 +31,7 @@ import java.util.Objects;
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Rotation2d
implements Interpolatable<Rotation2d>,
ProtobufSerializable<Rotation2d>,
StructSerializable<Rotation2d> {
implements Interpolatable<Rotation2d>, ProtobufSerializable, StructSerializable {
private final double m_value;
private final double m_cos;
private final double m_sin;

4
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
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@@ -27,9 +27,7 @@ import org.ejml.dense.row.factory.DecompositionFactory_DDRM;
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Rotation3d
implements Interpolatable<Rotation3d>,
ProtobufSerializable<Rotation3d>,
StructSerializable<Rotation3d> {
implements Interpolatable<Rotation3d>, ProtobufSerializable, StructSerializable {
private final Quaternion m_q;
/** Constructs a Rotation3d with a default angle of 0 degrees. */

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Transform2d.java
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@@ -15,8 +15,7 @@ import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
/** Represents a transformation for a Pose2d in the pose's frame. */
public class Transform2d
implements ProtobufSerializable<Transform2d>, StructSerializable<Transform2d> {
public class Transform2d implements ProtobufSerializable, StructSerializable {
private final Translation2d m_translation;
private final Rotation2d m_rotation;

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Transform3d.java
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@@ -11,8 +11,7 @@ import edu.wpi.first.util.struct.StructSerializable;
import java.util.Objects;
/** Represents a transformation for a Pose3d in the pose's frame. */
public class Transform3d
implements ProtobufSerializable<Transform3d>, StructSerializable<Transform3d> {
public class Transform3d implements ProtobufSerializable, StructSerializable {
private final Translation3d m_translation;
private final Rotation3d m_rotation;

4
wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java
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@@ -32,9 +32,7 @@ import java.util.Objects;
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Translation2d
implements Interpolatable<Translation2d>,
ProtobufSerializable<Translation2d>,
StructSerializable<Translation2d> {
implements Interpolatable<Translation2d>, ProtobufSerializable, StructSerializable {
private final double m_x;
private final double m_y;

4
wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java
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@@ -30,9 +30,7 @@ import java.util.Objects;
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Translation3d
implements Interpolatable<Translation3d>,
ProtobufSerializable<Translation3d>,
StructSerializable<Translation3d> {
implements Interpolatable<Translation3d>, ProtobufSerializable, StructSerializable {
private final double m_x;
private final double m_y;
private final double m_z;

2
wpimath/src/main/java/edu/wpi/first/math/geometry/Twist2d.java
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@@ -16,7 +16,7 @@ import java.util.Objects;
*
* <p>A Twist can be used to represent a difference between two poses.
*/
public class Twist2d implements ProtobufSerializable<Twist2d>, StructSerializable<Twist2d> {
public class Twist2d implements ProtobufSerializable, StructSerializable {
/** Linear "dx" component. */
public double dx;

2
wpimath/src/main/java/edu/wpi/first/math/geometry/Twist3d.java
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@@ -16,7 +16,7 @@ import java.util.Objects;
*
* <p>A Twist can be used to represent a difference between two poses.
*/
public class Twist3d implements ProtobufSerializable<Twist3d>, StructSerializable<Twist3d> {
public class Twist3d implements ProtobufSerializable, StructSerializable {
/** Linear "dx" component. */
public double dx;

3
wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
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@@ -30,8 +30,7 @@ import edu.wpi.first.util.struct.StructSerializable;
* component because it can never move sideways. Holonomic drivetrains such as swerve and mecanum
* will often have all three components.
*/
public class ChassisSpeeds
implements ProtobufSerializable<ChassisSpeeds>, StructSerializable<ChassisSpeeds> {
public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
/** Velocity along the x-axis. (Fwd is +) */
public double vxMetersPerSecond;

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveKinematics.java
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@@ -26,8 +26,8 @@ import edu.wpi.first.util.struct.StructSerializable;
*/
public class DifferentialDriveKinematics
implements Kinematics<DifferentialDriveWheelSpeeds, DifferentialDriveWheelPositions>,
ProtobufSerializable<DifferentialDriveKinematics>,
StructSerializable<DifferentialDriveKinematics> {
ProtobufSerializable,
StructSerializable {
public final double trackWidthMeters;
public static final DifferentialDriveKinematicsProto proto =

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelSpeeds.java
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@@ -15,9 +15,7 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
/** Represents the wheel speeds for a differential drive drivetrain. */
public class DifferentialDriveWheelSpeeds
implements ProtobufSerializable<DifferentialDriveWheelSpeeds>,
StructSerializable<DifferentialDriveWheelSpeeds> {
public class DifferentialDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
/** Speed of the left side of the robot. */
public double leftMetersPerSecond;

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveKinematics.java
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@@ -36,8 +36,8 @@ import org.ejml.simple.SimpleMatrix;
*/
public class MecanumDriveKinematics
implements Kinematics<MecanumDriveWheelSpeeds, MecanumDriveWheelPositions>,
ProtobufSerializable<MecanumDriveKinematics>,
StructSerializable<MecanumDriveKinematics> {
ProtobufSerializable,
StructSerializable {
private final SimpleMatrix m_inverseKinematics;
private final SimpleMatrix m_forwardKinematics;

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelPositions.java
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@@ -17,8 +17,8 @@ import java.util.Objects;
public class MecanumDriveWheelPositions
implements WheelPositions<MecanumDriveWheelPositions>,
ProtobufSerializable<MecanumDriveWheelPositions>,
StructSerializable<MecanumDriveWheelPositions> {
ProtobufSerializable,
StructSerializable {
/** Distance measured by the front left wheel. */
public double frontLeftMeters;

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/MecanumDriveWheelSpeeds.java
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@@ -14,9 +14,7 @@ import edu.wpi.first.units.Velocity;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
public class MecanumDriveWheelSpeeds
implements ProtobufSerializable<MecanumDriveWheelSpeeds>,
StructSerializable<MecanumDriveWheelSpeeds> {
public class MecanumDriveWheelSpeeds implements ProtobufSerializable, StructSerializable {
/** Speed of the front left wheel. */
public double frontLeftMetersPerSecond;

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModulePosition.java
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@@ -21,8 +21,8 @@ import java.util.Objects;
public class SwerveModulePosition
implements Comparable<SwerveModulePosition>,
Interpolatable<SwerveModulePosition>,
ProtobufSerializable<SwerveModulePosition>,
StructSerializable<SwerveModulePosition> {
ProtobufSerializable,
StructSerializable {
/** Distance measured by the wheel of the module. */
public double distanceMeters;

4
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
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@@ -18,9 +18,7 @@ import java.util.Objects;
/** Represents the state of one swerve module. */
public class SwerveModuleState
implements Comparable<SwerveModuleState>,
ProtobufSerializable<SwerveModuleState>,
StructSerializable<SwerveModuleState> {
implements Comparable<SwerveModuleState>, ProtobufSerializable, StructSerializable {
/** Speed of the wheel of the module. */
public double speedMetersPerSecond;

2
wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
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@@ -11,7 +11,7 @@ import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.StructSerializable;
/** Holds the constants for a DC motor. */
public class DCMotor implements ProtobufSerializable<DCMotor>, StructSerializable<DCMotor> {
public class DCMotor implements ProtobufSerializable, StructSerializable {
public final double nominalVoltageVolts;
public final double stallTorqueNewtonMeters;
public final double stallCurrentAmps;

4
wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
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@@ -19,7 +19,7 @@ import java.util.stream.Collectors;
* Represents a time-parameterized trajectory. The trajectory contains of various States that
* represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
*/
public class Trajectory implements ProtobufSerializable<Trajectory> {
public class Trajectory implements ProtobufSerializable {
public static final TrajectoryProto proto = new TrajectoryProto();
private final double m_totalTimeSeconds;
@@ -268,7 +268,7 @@ public class Trajectory implements ProtobufSerializable<Trajectory> {
* Represents a time-parameterized trajectory. The trajectory contains of various States that
* represent the pose, curvature, time elapsed, velocity, and acceleration at that point.
*/
public static class State implements ProtobufSerializable<State> {
public static class State implements ProtobufSerializable {
public static final TrajectoryStateProto proto = new TrajectoryStateProto();
// The time elapsed since the beginning of the trajectory.