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Clean up Java warning suppressions (#4433)

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Checkstyle naming conventions were changed to allow most of what's in
wpimath. Naming rules were disabled completely in wpimath since almost
all suppressions are for math notation.
This commit is contained in:
Tyler Veness
2022-09-24 00:13:55 -07:00
committed by GitHub
parent 17f504f548
commit a791470de7
233 changed files with 282 additions and 881 deletions
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44
wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java
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@@ -21,36 +21,34 @@ public final class SimpleMatrixUtils {
* @param matrix The matrix to compute the exponential of.
* @return The resultant matrix.
*/
@SuppressWarnings({"LocalVariableName", "LineLength"})
public static SimpleMatrix expm(SimpleMatrix matrix) {
BiFunction<SimpleMatrix, SimpleMatrix, SimpleMatrix> solveProvider = SimpleBase::solve;
SimpleMatrix A = matrix;
double A_L1 = NormOps_DDRM.inducedP1(matrix.getDDRM());
int n_squarings = 0;
int nSquarings = 0;
if (A_L1 < 1.495585217958292e-002) {
Pair<SimpleMatrix, SimpleMatrix> pair = _pade3(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
Pair<SimpleMatrix, SimpleMatrix> pair = pade3(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), nSquarings, solveProvider);
} else if (A_L1 < 2.539398330063230e-001) {
Pair<SimpleMatrix, SimpleMatrix> pair = _pade5(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
Pair<SimpleMatrix, SimpleMatrix> pair = pade5(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), nSquarings, solveProvider);
} else if (A_L1 < 9.504178996162932e-001) {
Pair<SimpleMatrix, SimpleMatrix> pair = _pade7(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
Pair<SimpleMatrix, SimpleMatrix> pair = pade7(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), nSquarings, solveProvider);
} else if (A_L1 < 2.097847961257068e+000) {
Pair<SimpleMatrix, SimpleMatrix> pair = _pade9(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
Pair<SimpleMatrix, SimpleMatrix> pair = pade9(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), nSquarings, solveProvider);
} else {
double maxNorm = 5.371920351148152;
double log = Math.log(A_L1 / maxNorm) / Math.log(2); // logb(2, arg)
n_squarings = (int) Math.max(0, Math.ceil(log));
A = A.divide(Math.pow(2.0, n_squarings));
Pair<SimpleMatrix, SimpleMatrix> pair = _pade13(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), n_squarings, solveProvider);
nSquarings = (int) Math.max(0, Math.ceil(log));
A = A.divide(Math.pow(2.0, nSquarings));
Pair<SimpleMatrix, SimpleMatrix> pair = pade13(A);
return dispatchPade(pair.getFirst(), pair.getSecond(), nSquarings, solveProvider);
}
}
@SuppressWarnings({"LocalVariableName", "ParameterName", "LineLength"})
private static SimpleMatrix dispatchPade(
SimpleMatrix U,
SimpleMatrix V,
@@ -68,8 +66,7 @@ public final class SimpleMatrixUtils {
return R;
}
@SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName"})
private static Pair<SimpleMatrix, SimpleMatrix> _pade3(SimpleMatrix A) {
private static Pair<SimpleMatrix, SimpleMatrix> pade3(SimpleMatrix A) {
double[] b = new double[] {120, 60, 12, 1};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
@@ -79,8 +76,7 @@ public final class SimpleMatrixUtils {
return new Pair<>(U, V);
}
@SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName"})
private static Pair<SimpleMatrix, SimpleMatrix> _pade5(SimpleMatrix A) {
private static Pair<SimpleMatrix, SimpleMatrix> pade5(SimpleMatrix A) {
double[] b = new double[] {30240, 15120, 3360, 420, 30, 1};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
SimpleMatrix A2 = A.mult(A);
@@ -92,8 +88,7 @@ public final class SimpleMatrixUtils {
return new Pair<>(U, V);
}
@SuppressWarnings({"MethodName", "LocalVariableName", "LineLength", "ParameterName"})
private static Pair<SimpleMatrix, SimpleMatrix> _pade7(SimpleMatrix A) {
private static Pair<SimpleMatrix, SimpleMatrix> pade7(SimpleMatrix A) {
double[] b = new double[] {17297280, 8648640, 1995840, 277200, 25200, 1512, 56, 1};
SimpleMatrix ident = eye(A.numRows(), A.numCols());
SimpleMatrix A2 = A.mult(A);
@@ -108,8 +103,7 @@ public final class SimpleMatrixUtils {
return new Pair<>(U, V);
}
@SuppressWarnings({"MethodName", "LocalVariableName", "ParameterName", "LineLength"})
private static Pair<SimpleMatrix, SimpleMatrix> _pade9(SimpleMatrix A) {
private static Pair<SimpleMatrix, SimpleMatrix> pade9(SimpleMatrix A) {
double[] b =
new double[] {
17643225600.0, 8821612800.0, 2075673600, 302702400, 30270240, 2162160, 110880, 3960, 90, 1
@@ -137,8 +131,7 @@ public final class SimpleMatrixUtils {
return new Pair<>(U, V);
}
@SuppressWarnings({"MethodName", "LocalVariableName", "LineLength", "ParameterName"})
private static Pair<SimpleMatrix, SimpleMatrix> _pade13(SimpleMatrix A) {
private static Pair<SimpleMatrix, SimpleMatrix> pade13(SimpleMatrix A) {
double[] b =
new double[] {
64764752532480000.0,
@@ -245,7 +238,6 @@ public final class SimpleMatrixUtils {
* @param A the matrix to exponentiate.
* @return the exponential of A.
*/
@SuppressWarnings("ParameterName")
public static SimpleMatrix exp(SimpleMatrix A) {
SimpleMatrix toReturn = new SimpleMatrix(A.numRows(), A.numRows());
WPIMathJNI.exp(A.getDDRM().getData(), A.numRows(), toReturn.getDDRM().getData());