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Fix trivial errorprone warnings (NFC) (#6135)

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This commit is contained in:
David Vo
2024-01-20 15:46:38 +11:00
committed by GitHub
parent d198605562
commit a274e297cd
22 changed files with 33 additions and 36 deletions
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12
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
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@@ -78,8 +78,8 @@ class LinearQuadraticRegulatorTest {
*
* <p>This is used to test the QRN overload of LQR.
*
* @param States Number of states.
* @param Inputs Number of inputs.
* @param <States> Number of states.
* @param <Inputs> Number of inputs.
* @param A State matrix.
* @param B Input matrix.
* @param Q State cost matrix.
@@ -119,10 +119,10 @@ class LinearQuadraticRegulatorTest {
// QR overload
var K = new LinearQuadraticRegulator<>(A, B, Q, R, 0.005).getK();
assertEquals(0.99750312499512261, K.get(0, 0), 1e-10);
assertEquals(0.9975031249951226, K.get(0, 0), 1e-10);
assertEquals(0.0, K.get(0, 1), 1e-10);
assertEquals(0.0, K.get(1, 0), 1e-10);
assertEquals(0.99750312499512261, K.get(1, 1), 1e-10);
assertEquals(0.9975031249951226, K.get(1, 1), 1e-10);
// QRN overload
var N = MatBuilder.fill(Nat.N2(), Nat.N2(), 1, 0, 0, 1);
@@ -146,13 +146,13 @@ class LinearQuadraticRegulatorTest {
// QR overload
var K = new LinearQuadraticRegulator<>(A, B, Q, R, 0.005).getK();
assertEquals(1.9960017786537287, K.get(0, 0), 1e-10);
assertEquals(0.51182128351092726, K.get(0, 1), 1e-10);
assertEquals(0.5118212835109273, K.get(0, 1), 1e-10);
// QRN overload
var Aref = MatBuilder.fill(Nat.N2(), Nat.N2(), 0, 1, 0, -Kv / (Ka * 5.0));
var Kimf = getImplicitModelFollowingK(A, B, Q, R, Aref, 0.005);
assertEquals(0.0, Kimf.get(0, 0), 1e-10);
assertEquals(-6.9190500116751458e-05, Kimf.get(0, 1), 1e-10);
assertEquals(-6.919050011675146e-05, Kimf.get(0, 1), 1e-10);
}
@Test

2
wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
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@@ -29,7 +29,7 @@ class SimpleMotorFeedforwardTest {
var r = VecBuilder.fill(2.0);
var nextR = VecBuilder.fill(3.0);
assertEquals(37.524995834325161 + 0.5, simpleMotor.calculate(2.0, 3.0, dt), 0.002);
assertEquals(37.52499583432516 + 0.5, simpleMotor.calculate(2.0, 3.0, dt), 0.002);
assertEquals(
plantInversion.calculate(r, nextR).get(0, 0) + Ks,
simpleMotor.calculate(2.0, 3.0, dt),

2
wpimath/src/test/java/edu/wpi/first/math/geometry/QuaternionTest.java
View File

@@ -125,7 +125,7 @@ class QuaternionTest {
// Identity
var q =
new Quaternion(
0.72760687510899891, 0.29104275004359953, 0.38805700005813276, 0.48507125007266594);
0.7276068751089989, 0.29104275004359953, 0.38805700005813276, 0.48507125007266594);
final var actual2 = q.times(q.inverse());
assertAll(
() -> assertEquals(1.0, actual2.getW()),