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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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68
wpimath/src/test/java/edu/wpi/first/wpilibj/math/StateSpaceUtilTest.java
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@@ -4,12 +4,9 @@
package edu.wpi.first.wpilibj.math;
import java.util.ArrayList;
import java.util.List;
import org.ejml.dense.row.MatrixFeatures_DDRM;
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.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -19,16 +16,16 @@ import edu.wpi.first.wpiutil.math.SimpleMatrixUtils;
import edu.wpi.first.wpiutil.math.VecBuilder;
import edu.wpi.first.wpiutil.math.numbers.N1;
import edu.wpi.first.wpiutil.math.numbers.N2;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import java.util.ArrayList;
import java.util.List;
import org.ejml.dense.row.MatrixFeatures_DDRM;
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
public class StateSpaceUtilTest {
@Test
public void testCostArray() {
var mat = StateSpaceUtil.makeCostMatrix(
VecBuilder.fill(1.0, 2.0, 3.0));
var mat = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(1.0, 2.0, 3.0));
assertEquals(1.0, mat.get(0, 0), 1e-3);
assertEquals(0.0, mat.get(0, 1), 1e-3);
@@ -43,8 +40,7 @@ public class StateSpaceUtilTest {
@Test
public void testCovArray() {
var mat = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(),
VecBuilder.fill(1.0, 2.0, 3.0));
var mat = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), VecBuilder.fill(1.0, 2.0, 3.0));
assertEquals(1.0, mat.get(0, 0), 1e-3);
assertEquals(0.0, mat.get(0, 1), 1e-3);
@@ -123,8 +119,7 @@ public class StateSpaceUtilTest {
var x1Discrete = discA.times(x0);
// We now have pos = vel = 1 and accel = 0, which should give us:
var x1Truth = VecBuilder.fill(x0.get(0, 0) + 1.0 * x0.get(1, 0),
x0.get(1, 0));
var x1Truth = VecBuilder.fill(x0.get(0, 0) + 1.0 * x0.get(1, 0), x0.get(1, 0));
assertTrue(x1Truth.isEqual(x1Discrete, 1E-4));
}
@@ -141,8 +136,9 @@ public class StateSpaceUtilTest {
var x1Discrete = abPair.getFirst().times(x0).plus(abPair.getSecond().times(u));
// We now have pos = vel = accel = 1, which should give us:
var x1Truth = VecBuilder.fill(x0.get(0, 0) + x0.get(1, 0) + 0.5 * u.get(0, 0), x0.get(0, 0)
+ u.get(0, 0));
var x1Truth =
VecBuilder.fill(
x0.get(0, 0) + x0.get(1, 0) + 0.5 * u.get(0, 0), x0.get(0, 0) + u.get(0, 0));
assertTrue(x1Truth.isEqual(x1Discrete, 1E-4));
}
@@ -152,14 +148,16 @@ public class StateSpaceUtilTest {
Matrix<N2, N2> wrappedMatrix = Matrix.eye(Nat.N2());
var wrappedResult = wrappedMatrix.exp();
assertTrue(wrappedResult.isEqual(
Matrix.mat(Nat.N2(), Nat.N2()).fill(Math.E, 0, 0, Math.E), 1E-9));
assertTrue(
wrappedResult.isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(Math.E, 0, 0, Math.E), 1E-9));
var matrix = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 2, 3, 4);
wrappedResult = matrix.times(0.01).exp();
assertTrue(wrappedResult.isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912,
0.03076368, 1.04111993), 1E-8));
assertTrue(
wrappedResult.isEqual(
Matrix.mat(Nat.N2(), Nat.N2()).fill(1.01035625, 0.02050912, 0.03076368, 1.04111993),
1E-8));
}
@Test
@@ -167,21 +165,22 @@ public class StateSpaceUtilTest {
SimpleMatrix matrix = SimpleMatrixUtils.eye(2);
var result = SimpleMatrixUtils.exp(matrix);
assertTrue(MatrixFeatures_DDRM.isIdentical(
result.getDDRM(),
new SimpleMatrix(2, 2, true, new double[]{Math.E, 0, 0, Math.E}).getDDRM(),
1E-9
));
assertTrue(
MatrixFeatures_DDRM.isIdentical(
result.getDDRM(),
new SimpleMatrix(2, 2, true, new double[] {Math.E, 0, 0, Math.E}).getDDRM(),
1E-9));
matrix = new SimpleMatrix(2, 2, true, new double[]{1, 2, 3, 4});
matrix = new SimpleMatrix(2, 2, true, new double[] {1, 2, 3, 4});
result = SimpleMatrixUtils.exp(matrix.scale(0.01));
assertTrue(MatrixFeatures_DDRM.isIdentical(
result.getDDRM(),
new SimpleMatrix(2, 2, true, new double[]{1.01035625, 0.02050912,
0.03076368, 1.04111993}).getDDRM(),
1E-8
));
assertTrue(
MatrixFeatures_DDRM.isIdentical(
result.getDDRM(),
new SimpleMatrix(
2, 2, true, new double[] {1.01035625, 0.02050912, 0.03076368, 1.04111993})
.getDDRM(),
1E-8));
}
@Test
@@ -192,5 +191,4 @@ public class StateSpaceUtilTest {
assertEquals(pose.getTranslation().getY(), vector.get(1, 0), 1e-6);
assertEquals(pose.getRotation().getRadians(), vector.get(2, 0), 1e-6);
}
}