[build] Apply spotless for java formatting (#1768)

Update checkstyle config to be compatible with spotless.

Co-authored-by: Austin Shalit <austinshalit@gmail.com>

wpimath/src/main/java/edu/wpi/first/math/Drake.java

@@ -4,14 +4,12 @@
 
 package edu.wpi.first.math;
 
-import org.ejml.simple.SimpleMatrix;
-
 import edu.wpi.first.wpiutil.math.Matrix;
 import edu.wpi.first.wpiutil.math.Num;
+import org.ejml.simple.SimpleMatrix;
 
 public final class Drake {
-  private Drake() {
-  }
+  private Drake() {}
 
   /**
    * Solves the discrete alegebraic Riccati equation.
@@ -24,14 +22,16 @@ public final class Drake {
    */
   @SuppressWarnings({"LocalVariableName", "ParameterName"})
   public static SimpleMatrix discreteAlgebraicRiccatiEquation(
-          SimpleMatrix A,
-          SimpleMatrix B,
-          SimpleMatrix Q,
-          SimpleMatrix R) {
+      SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q, SimpleMatrix R) {
     var S = new SimpleMatrix(A.numRows(), A.numCols());
-    WPIMathJNI.discreteAlgebraicRiccatiEquation(A.getDDRM().getData(), B.getDDRM().getData(),
-            Q.getDDRM().getData(), R.getDDRM().getData(), A.numCols(), B.numCols(),
-            S.getDDRM().getData());
+    WPIMathJNI.discreteAlgebraicRiccatiEquation(
+        A.getDDRM().getData(),
+        B.getDDRM().getData(),
+        Q.getDDRM().getData(),
+        R.getDDRM().getData(),
+        A.numCols(),
+        B.numCols(),
+        S.getDDRM().getData());
     return S;
   }
 
@@ -45,12 +45,14 @@ public final class Drake {
    * @return Solution of DARE.
    */
   @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
-  public static <States extends Num, Inputs extends Num> Matrix<States, States>
-      discreteAlgebraicRiccatiEquation(Matrix<States, States> A,
-                                       Matrix<States, Inputs> B,
-                                       Matrix<States, States> Q,
-                                       Matrix<Inputs, Inputs> R) {
-    return new Matrix<>(discreteAlgebraicRiccatiEquation(A.getStorage(), B.getStorage(),
-    Q.getStorage(), R.getStorage()));
+  public static <States extends Num, Inputs extends Num>
+      Matrix<States, States> discreteAlgebraicRiccatiEquation(
+          Matrix<States, States> A,
+          Matrix<States, Inputs> B,
+          Matrix<States, States> Q,
+          Matrix<Inputs, Inputs> R) {
+    return new Matrix<>(
+        discreteAlgebraicRiccatiEquation(
+            A.getStorage(), B.getStorage(), Q.getStorage(), R.getStorage()));
   }
 }

wpimath/src/main/java/edu/wpi/first/math/MathSharedStore.java

@@ -7,30 +7,24 @@ package edu.wpi.first.math;
 public final class MathSharedStore {
   private static MathShared mathShared;
 
-  private MathSharedStore() {
-  }
+  private MathSharedStore() {}
 
-  /**
-   * get the MathShared object.
-   */
+  /** get the MathShared object. */
   public static synchronized MathShared getMathShared() {
     if (mathShared == null) {
-      mathShared = new MathShared() {
-        @Override
-        public void reportError(String error, StackTraceElement[] stackTrace) {
-        }
+      mathShared =
+          new MathShared() {
+            @Override
+            public void reportError(String error, StackTraceElement[] stackTrace) {}
 
-        @Override
-        public void reportUsage(MathUsageId id, int count) {
-        }
-      };
+            @Override
+            public void reportUsage(MathUsageId id, int count) {}
+          };
     }
     return mathShared;
   }
 
-  /**
-   * set the MathShared object.
-   */
+  /** set the MathShared object. */
   public static synchronized void setMathShared(MathShared shared) {
     mathShared = shared;
   }

wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java

@@ -4,11 +4,10 @@
 
 package edu.wpi.first.math;
 
+import edu.wpi.first.wpiutil.RuntimeLoader;
 import java.io.IOException;
 import java.util.concurrent.atomic.AtomicBoolean;
 
-import edu.wpi.first.wpiutil.RuntimeLoader;
-
 public final class WPIMathJNI {
   static boolean libraryLoaded = false;
   static RuntimeLoader<WPIMathJNI> loader = null;
@@ -16,8 +15,9 @@ public final class WPIMathJNI {
   static {
     if (Helper.getExtractOnStaticLoad()) {
       try {
-        loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
-                WPIMathJNI.class);
+        loader =
+            new RuntimeLoader<>(
+                "wpimathjni", RuntimeLoader.getDefaultExtractionRoot(), WPIMathJNI.class);
         loader.loadLibrary();
       } catch (IOException ex) {
         ex.printStackTrace();
@@ -36,8 +36,9 @@ public final class WPIMathJNI {
     if (libraryLoaded) {
       return;
     }
-    loader = new RuntimeLoader<>("wpimathjni", RuntimeLoader.getDefaultExtractionRoot(),
-            WPIMathJNI.class);
+    loader =
+        new RuntimeLoader<>(
+            "wpimathjni", RuntimeLoader.getDefaultExtractionRoot(), WPIMathJNI.class);
     loader.loadLibrary();
     libraryLoaded = true;
   }
@@ -45,53 +46,47 @@ public final class WPIMathJNI {
   /**
    * Solves the discrete alegebraic Riccati equation.
    *
-   * @param A      Array containing elements of A in row-major order.
-   * @param B      Array containing elements of B in row-major order.
-   * @param Q      Array containing elements of Q in row-major order.
-   * @param R      Array containing elements of R in row-major order.
+   * @param A Array containing elements of A in row-major order.
+   * @param B Array containing elements of B in row-major order.
+   * @param Q Array containing elements of Q in row-major order.
+   * @param R Array containing elements of R in row-major order.
    * @param states Number of states in A matrix.
    * @param inputs Number of inputs in B matrix.
-   * @param S      Array storage for DARE solution.
+   * @param S Array storage for DARE solution.
    */
   public static native void discreteAlgebraicRiccatiEquation(
-          double[] A,
-          double[] B,
-          double[] Q,
-          double[] R,
-          int states,
-          int inputs,
-          double[] S);
+      double[] A, double[] B, double[] Q, double[] R, int states, int inputs, double[] S);
 
   /**
    * Computes the matrix exp.
    *
-   * @param src  Array of elements of the matrix to be exponentiated.
+   * @param src Array of elements of the matrix to be exponentiated.
    * @param rows How many rows there are.
-   * @param dst  Array where the result will be stored.
+   * @param dst Array where the result will be stored.
    */
   public static native void exp(double[] src, int rows, double[] dst);
 
   /**
    * Computes the matrix pow.
    *
-   * @param src      Array of elements of the matrix to be raised to a power.
-   * @param rows     How many rows there are.
+   * @param src Array of elements of the matrix to be raised to a power.
+   * @param rows How many rows there are.
    * @param exponent The exponent.
-   * @param dst      Array where the result will be stored.
+   * @param dst Array where the result will be stored.
    */
   public static native void pow(double[] src, int rows, double exponent, double[] dst);
 
   /**
    * Returns true if (A, B) is a stabilizable pair.
    *
-   * <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if
-   * any, have absolute values less than one, where an eigenvalue is
-   * uncontrollable if rank(lambda * I - A, B) &lt; n where n is number of states.
+   * <p>(A,B) is stabilizable if and only if the uncontrollable eigenvalues of A, if any, have
+   * absolute values less than one, where an eigenvalue is uncontrollable if rank(lambda * I - A, B)
+   * &lt; n where n is number of states.
    *
    * @param states the number of states of the system.
    * @param inputs the number of inputs to the system.
-   * @param A      System matrix.
-   * @param B      Input matrix.
+   * @param A System matrix.
+   * @param B Input matrix.
    * @return If the system is stabilizable.
    */
   public static native boolean isStabilizable(int states, int inputs, double[] A, double[] B);