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

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Update checkstyle config to be compatible with spotless.

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
This commit is contained in:
Peter Johnson
2020-12-29 22:45:16 -08:00
committed by GitHub
parent e563a0b7db
commit a751fa22d2
883 changed files with 16526 additions and 17751 deletions
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52
wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
View File

@@ -4,13 +4,12 @@
package edu.wpi.first.math;
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
@SuppressWarnings({"ParameterName", "LocalVariableName"})
public class DrakeTest {
public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
@@ -21,8 +20,8 @@ public class DrakeTest {
}
}
private boolean solveDAREandVerify(SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q,
SimpleMatrix R) {
private boolean solveDAREandVerify(
SimpleMatrix A, SimpleMatrix B, SimpleMatrix Q, SimpleMatrix R) {
var X = Drake.discreteAlgebraicRiccatiEquation(A, B, Q, R);
// expect that x is the same as it's transpose
@@ -30,11 +29,19 @@ public class DrakeTest {
assertMatrixEqual(X, X.transpose());
// Verify that this is a solution to the DARE.
SimpleMatrix Y = A.transpose().mult(X).mult(A)
SimpleMatrix Y =
A.transpose()
.mult(X)
.mult(A)
.minus(X)
.minus(A.transpose().mult(X).mult(B)
.mult(((B.transpose().mult(X).mult(B)).plus(R))
.invert()).mult(B.transpose()).mult(X).mult(A))
.minus(
A.transpose()
.mult(X)
.mult(B)
.mult(((B.transpose().mult(X).mult(B)).plus(R)).invert())
.mult(B.transpose())
.mult(X)
.mult(A))
.plus(Q);
assertMatrixEqual(Y, new SimpleMatrix(Y.numRows(), Y.numCols()));
@@ -47,20 +54,21 @@ public class DrakeTest {
int m1 = 1;
// we know from Scipy that this should be [[0.05048525 0.10097051 0.20194102 0.40388203]]
SimpleMatrix A1 = new SimpleMatrix(n1, n1, true, new double[]{0.5, 1, 0, 0, 0, 0, 1,
0, 0, 0, 0, 1, 0, 0, 0, 0}).transpose();
SimpleMatrix B1 = new SimpleMatrix(n1, m1, true, new double[]{0, 0, 0, 1});
SimpleMatrix Q1 = new SimpleMatrix(n1, n1, true, new double[]{1, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0});
SimpleMatrix R1 = new SimpleMatrix(m1, m1, true, new double[]{0.25});
SimpleMatrix A1 =
new SimpleMatrix(
n1, n1, true, new double[] {0.5, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0})
.transpose();
SimpleMatrix B1 = new SimpleMatrix(n1, m1, true, new double[] {0, 0, 0, 1});
SimpleMatrix Q1 =
new SimpleMatrix(
n1, n1, true, new double[] {1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
SimpleMatrix R1 = new SimpleMatrix(m1, m1, true, new double[] {0.25});
assertTrue(solveDAREandVerify(A1, B1, Q1, R1));
SimpleMatrix A2 = new SimpleMatrix(2, 2, true, new double[]{1, 1, 0, 1});
SimpleMatrix B2 = new SimpleMatrix(2, 1, true, new double[]{0, 1});
SimpleMatrix Q2 = new SimpleMatrix(2, 2, true, new double[]{1, 0, 0, 0});
SimpleMatrix R2 = new SimpleMatrix(1, 1, true, new double[]{0.3});
SimpleMatrix A2 = new SimpleMatrix(2, 2, true, new double[] {1, 1, 0, 1});
SimpleMatrix B2 = new SimpleMatrix(2, 1, true, new double[] {0, 1});
SimpleMatrix Q2 = new SimpleMatrix(2, 2, true, new double[] {1, 0, 0, 0});
SimpleMatrix R2 = new SimpleMatrix(1, 1, true, new double[] {0.3});
assertTrue(solveDAREandVerify(A2, B2, Q2, R2));
}
}

4
wpimath/src/test/java/edu/wpi/first/math/WPIMathJNITest.java
View File

@@ -4,10 +4,10 @@
package edu.wpi.first.math;
import org.junit.jupiter.api.Test;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import org.junit.jupiter.api.Test;
public class WPIMathJNITest {
@Test
public void testLink() {