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Remove extra newlines after open curly braces (NFC) (#3471)

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This commit is contained in:
Tyler Veness
2021-07-09 00:41:30 -04:00
committed by GitHub
parent a4233e1a16
commit 9d68d95825
47 changed files with 0 additions and 67 deletions
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1
wpimath/src/main/java/edu/wpi/first/math/Vector.java
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@@ -15,7 +15,6 @@ import org.ejml.simple.SimpleMatrix;
* @param <R> The number of rows in this matrix.
*/
public class Vector<R extends Num> extends Matrix<R, N1> {
/**
* Constructs an empty zero vector of the given dimensions.
*

1
wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
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@@ -23,7 +23,6 @@ import org.ejml.simple.SimpleMatrix;
* State-Space Models" (Doctoral dissertation)
*/
public class MerweScaledSigmaPoints<S extends Num> {
private final double m_alpha;
private final int m_kappa;
private final Nat<S> m_states;

1
wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
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@@ -29,7 +29,6 @@ import org.ejml.simple.SimpleMatrix;
@SuppressWarnings({"MemberName", "ClassTypeParameterName"})
public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
implements KalmanTypeFilter<States, Inputs, Outputs> {
private final Nat<States> m_states;
private final Nat<Outputs> m_outputs;

1
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
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@@ -9,7 +9,6 @@ import edu.wpi.first.math.geometry.Rotation2d;
/** Represents the state of one swerve module. */
@SuppressWarnings("MemberName")
public class SwerveModuleState implements Comparable<SwerveModuleState> {
/** Speed of the wheel of the module. */
public double speedMetersPerSecond;

1
wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java
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@@ -81,7 +81,6 @@ public final class SplineHelper {
@SuppressWarnings("LocalVariableName")
public static CubicHermiteSpline[] getCubicSplinesFromControlVectors(
Spline.ControlVector start, Translation2d[] waypoints, Spline.ControlVector end) {
CubicHermiteSpline[] splines = new CubicHermiteSpline[waypoints.length + 1];
double[] xInitial = start.x;

2
wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
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@@ -11,7 +11,6 @@ import edu.wpi.first.math.numbers.N1;
@SuppressWarnings("ClassTypeParameterName")
public class LinearSystem<States extends Num, Inputs extends Num, Outputs extends Num> {
/** Continuous system matrix. */
@SuppressWarnings("MemberName")
private final Matrix<States, States> m_A;
@@ -42,7 +41,6 @@ public class LinearSystem<States extends Num, Inputs extends Num, Outputs extend
Matrix<States, Inputs> b,
Matrix<Outputs, States> c,
Matrix<Outputs, Inputs> d) {
this.m_A = a;
this.m_B = b;
this.m_C = c;

1
wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
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@@ -30,7 +30,6 @@ import org.ejml.simple.SimpleMatrix;
*/
@SuppressWarnings("ClassTypeParameterName")
public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;
private final LinearPlantInversionFeedforward<States, Inputs, Outputs> m_feedforward;
private final KalmanFilter<States, Inputs, Outputs> m_observer;

4
wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
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@@ -75,7 +75,6 @@ public final class NumericalIntegration {
Matrix<States, N1> x,
Matrix<Inputs, N1> u,
double dtSeconds) {
final var halfDt = 0.5 * dtSeconds;
Matrix<States, N1> k1 = f.apply(x, u);
Matrix<States, N1> k2 = f.apply(x.plus(k1.times(halfDt)), u);
@@ -96,7 +95,6 @@ public final class NumericalIntegration {
@SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
public static <States extends Num> Matrix<States, N1> rk4(
Function<Matrix<States, N1>, Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
final var halfDt = 0.5 * dtSeconds;
Matrix<States, N1> k1 = f.apply(x);
Matrix<States, N1> k2 = f.apply(x.plus(k1.times(halfDt)));
@@ -147,7 +145,6 @@ public final class NumericalIntegration {
Matrix<Inputs, N1> u,
double dtSeconds,
double maxError) {
double dtElapsed = 0;
double previousH = dtSeconds;
// Loop until we've gotten to our desired dt
@@ -224,7 +221,6 @@ public final class NumericalIntegration {
double initialH,
double maxTruncationError,
double dtRemaining) {
double truncationErr;
double h = initialH;
Matrix<States, N1> newX;

1
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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@@ -195,7 +195,6 @@ public final class LinearSystemId {
@SuppressWarnings("ParameterName")
public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
double kVLinear, double kALinear, double kVAngular, double kAAngular) {
final double A1 = 0.5 * -(kVLinear / kALinear + kVAngular / kAAngular);
final double A2 = 0.5 * -(kVLinear / kALinear - kVAngular / kAAngular);
final double B1 = 0.5 * (1.0 / kALinear + 1.0 / kAAngular);

1
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
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@@ -260,7 +260,6 @@ public final class TrajectoryParameterizer {
private static void enforceAccelerationLimits(
boolean reverse, List<TrajectoryConstraint> constraints, ConstrainedState state) {
for (final var constraint : constraints) {
double factor = reverse ? -1.0 : 1.0;
final var minMaxAccel =

1
wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/DifferentialDriveVoltageConstraint.java
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@@ -51,7 +51,6 @@ public class DifferentialDriveVoltageConstraint implements TrajectoryConstraint
@Override
public MinMax getMinMaxAccelerationMetersPerSecondSq(
Pose2d poseMeters, double curvatureRadPerMeter, double velocityMetersPerSecond) {
var wheelSpeeds =
m_kinematics.toWheelSpeeds(
new ChassisSpeeds(

1
wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/TrajectoryConstraint.java
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@@ -11,7 +11,6 @@ import edu.wpi.first.math.geometry.Pose2d;
* trajectories.
*/
public interface TrajectoryConstraint {
/**
* Returns the max velocity given the current pose and curvature.
*

3
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
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@@ -48,7 +48,6 @@ public class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnElevator() {
var qElms = VecBuilder.fill(0.02, 0.4);
var rElms = VecBuilder.fill(12.0);
var dt = 0.00505;
@@ -63,7 +62,6 @@ public class LinearQuadraticRegulatorTest {
@Test
public void testFourMotorElevator() {
var dt = 0.020;
var plant =
@@ -80,7 +78,6 @@ public class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnArm() {
var motors = DCMotor.getVex775Pro(2);
var m = 4.0;

3
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
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@@ -54,7 +54,6 @@ public class LinearSystemLoopTest {
@Test
@SuppressWarnings("LocalVariableName")
public 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);
@@ -84,7 +83,6 @@ public class LinearSystemLoopTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testFlywheelEnabled() {
LinearSystem<N1, N1, N1> plant =
LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00289, 1.0);
KalmanFilter<N1, N1, N1> observer =
@@ -113,7 +111,6 @@ public class LinearSystemLoopTest {
var time = 0.0;
while (time < 10) {
if (time > 10) {
break;
}

4
wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
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@@ -64,7 +64,6 @@ public class KalmanFilterTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testElevatorKalmanFilter() {
var Q = VecBuilder.fill(0.05, 1.0);
var R = VecBuilder.fill(0.0001);
@@ -73,7 +72,6 @@ public class KalmanFilterTest {
@Test
public void testSwerveKFStationary() {
var random = new Random();
var filter =
@@ -121,7 +119,6 @@ public class KalmanFilterTest {
@Test
public void testSwerveKFMovingWithoutAccelerating() {
var random = new Random();
var filter =
@@ -178,7 +175,6 @@ public class KalmanFilterTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testSwerveKFMovingOverTrajectory() {
var random = new Random();
var filter =

1
wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
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@@ -171,7 +171,6 @@ public class UnscentedKalmanFilterTest {
double totalTime = trajectory.getTotalTimeSeconds();
for (int i = 0; i < (totalTime / dtSeconds); i++) {
ref = trajectory.sample(dtSeconds * i);
double vl = ref.velocityMetersPerSecond * (1 - (ref.curvatureRadPerMeter * rbMeters));
double vr = ref.velocityMetersPerSecond * (1 + (ref.curvatureRadPerMeter * rbMeters));

3
wpimath/src/test/java/edu/wpi/first/math/kinematics/MecanumDriveKinematicsTest.java
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@@ -35,7 +35,6 @@ class MecanumDriveKinematicsTest {
@Test
void testStraightLineForwardKinematicsKinematics() {
var wheelSpeeds = new MecanumDriveWheelSpeeds(3.536, 3.536, 3.536, 3.536);
var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
@@ -59,7 +58,6 @@ class MecanumDriveKinematicsTest {
@Test
void testStrafeForwardKinematicsKinematics() {
var wheelSpeeds = new MecanumDriveWheelSpeeds(-2.828427, 2.828427, 2.828427, -2.828427);
var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);
@@ -152,7 +150,6 @@ class MecanumDriveKinematicsTest {
@Test
void testOffCenterRotationTranslationForwardKinematicsKinematics() {
var wheelSpeeds = new MecanumDriveWheelSpeeds(2.12, 21.92, -12.02, 36.06);
var moduleStates = m_kinematics.toChassisSpeeds(wheelSpeeds);

4
wpimath/src/test/java/edu/wpi/first/math/kinematics/SwerveDriveKinematicsTest.java
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@@ -52,7 +52,6 @@ class SwerveDriveKinematicsTest {
@Test
void testStraightStrafeInverseKinematics() {
ChassisSpeeds speeds = new ChassisSpeeds(0, 5, 0);
var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
@@ -80,7 +79,6 @@ class SwerveDriveKinematicsTest {
@Test
void testTurnInPlaceInverseKinematics() {
ChassisSpeeds speeds = new ChassisSpeeds(0, 0, 2 * Math.PI);
var moduleStates = m_kinematics.toSwerveModuleStates(speeds);
@@ -119,7 +117,6 @@ class SwerveDriveKinematicsTest {
@Test
void testOffCenterCORRotationInverseKinematics() {
ChassisSpeeds speeds = new ChassisSpeeds(0, 0, 2 * Math.PI);
var moduleStates = m_kinematics.toSwerveModuleStates(speeds, m_fl);
@@ -188,7 +185,6 @@ class SwerveDriveKinematicsTest {
*/
@Test
void testOffCenterCORRotationAndTranslationInverseKinematics() {
ChassisSpeeds speeds = new ChassisSpeeds(0.0, 3.0, 1.5);
var moduleStates = m_kinematics.toSwerveModuleStates(speeds, new Translation2d(24, 0));

1
wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
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@@ -41,7 +41,6 @@ class LinearSystemIDTest {
@Test
public 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));

2
wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
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@@ -16,7 +16,6 @@ public class NumericalIntegrationTest {
@Test
@SuppressWarnings({"ParameterName", "LocalVariableName"})
public void testExponential() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
//noinspection SuspiciousNameCombination
@@ -36,7 +35,6 @@ public class NumericalIntegrationTest {
@Test
@SuppressWarnings({"ParameterName", "LocalVariableName"})
public void testExponentialAdaptive() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
//noinspection SuspiciousNameCombination