Clean up Java warning suppressions (#4433)

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.

wpimath/src/main/java/edu/wpi/first/math/controller/ArmFeedforward.java

@@ -8,7 +8,6 @@ package edu.wpi.first.math.controller;
  * A helper class that computes feedforward outputs for a simple arm (modeled as a motor acting
  * against the force of gravity on a beam suspended at an angle).
  */
-@SuppressWarnings("MemberName")
 public class ArmFeedforward {
   public final double ks;
   public final double kcos;

wpimath/src/main/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforward.java

@@ -29,16 +29,13 @@ import java.util.function.Function;
  * <p>For more on the underlying math, read
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  */
-@SuppressWarnings({"ParameterName", "LocalVariableName", "MemberName", "ClassTypeParameterName"})
 public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs extends Num> {
   /** The current reference state. */
-  @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_r;
 
   /** The computed feedforward. */
   private Matrix<Inputs, N1> m_uff;
 
-  @SuppressWarnings("MemberName")
   private final Matrix<States, Inputs> m_B;
 
   private final Nat<Inputs> m_inputs;
@@ -181,7 +178,6 @@ public class ControlAffinePlantInversionFeedforward<States extends Num, Inputs e
    * @param nextR The reference state of the future timestep (k + dt).
    * @return The calculated feedforward.
    */
-  @SuppressWarnings({"ParameterName", "LocalVariableName"})
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> r, Matrix<States, N1> nextR) {
     var rDot = (nextR.minus(r)).div(m_dt);
 

wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiter.java

@@ -50,7 +50,6 @@ public class DifferentialDriveAccelerationLimiter {
    * @param rightVoltage The unconstrained right motor voltage.
    * @return The constrained wheel voltages.
    */
-  @SuppressWarnings("LocalVariableName")
   public DifferentialDriveWheelVoltages calculate(
       double leftVelocity, double rightVelocity, double leftVoltage, double rightVoltage) {
     var u = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(leftVoltage, rightVoltage);

wpimath/src/main/java/edu/wpi/first/math/controller/DifferentialDriveWheelVoltages.java

@@ -5,7 +5,6 @@
 package edu.wpi.first.math.controller;
 
 /** Motor voltages for a differential drive. */
-@SuppressWarnings("MemberName")
 public class DifferentialDriveWheelVoltages {
   public double left;
   public double right;

wpimath/src/main/java/edu/wpi/first/math/controller/ElevatorFeedforward.java

@@ -8,7 +8,6 @@ package edu.wpi.first.math.controller;
  * A helper class that computes feedforward outputs for a simple elevator (modeled as a motor acting
  * against the force of gravity).
  */
-@SuppressWarnings("MemberName")
 public class ElevatorFeedforward {
   public final double ks;
   public final double kg;

wpimath/src/main/java/edu/wpi/first/math/controller/HolonomicDriveController.java

@@ -20,7 +20,6 @@ import edu.wpi.first.math.trajectory.Trajectory;
  * are decoupled from translations, users can specify a custom heading that the drivetrain should
  * point toward. This heading reference is profiled for smoothness.
  */
-@SuppressWarnings("MemberName")
 public class HolonomicDriveController {
   private Pose2d m_poseError = new Pose2d();
   private Rotation2d m_rotationError = new Rotation2d();
@@ -40,7 +39,6 @@ public class HolonomicDriveController {
    * @param yController A PID Controller to respond to error in the field-relative y direction.
    * @param thetaController A profiled PID controller to respond to error in angle.
    */
-  @SuppressWarnings("ParameterName")
   public HolonomicDriveController(
       PIDController xController, PIDController yController, ProfiledPIDController thetaController) {
     m_xController = xController;
@@ -81,7 +79,6 @@ public class HolonomicDriveController {
    * @param angleRef The angular reference.
    * @return The next output of the holonomic drive controller.
    */
-  @SuppressWarnings("LocalVariableName")
   public ChassisSpeeds calculate(
       Pose2d currentPose, Pose2d poseRef, double linearVelocityRefMeters, Rotation2d angleRef) {
     // If this is the first run, then we need to reset the theta controller to the current pose's

wpimath/src/main/java/edu/wpi/first/math/controller/ImplicitModelFollower.java

@@ -20,18 +20,14 @@ import org.ejml.simple.SimpleMatrix;
  * <p>For more on the underlying math, read appendix B.3 in
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  */
-@SuppressWarnings("ClassTypeParameterName")
 public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outputs extends Num> {
   // Computed controller output
-  @SuppressWarnings("MemberName")
   private Matrix<Inputs, N1> m_u;
 
   // State space conversion gain
-  @SuppressWarnings("MemberName")
   private Matrix<Inputs, States> m_A;
 
   // Input space conversion gain
-  @SuppressWarnings("MemberName")
   private Matrix<Inputs, Inputs> m_B;
 
   /**
@@ -53,7 +49,6 @@ public class ImplicitModelFollower<States extends Num, Inputs extends Num, Outpu
    * @param Aref Continuous system matrix whose dynamics should be followed.
    * @param Bref Continuous input matrix whose dynamics should be followed.
    */
-  @SuppressWarnings("ParameterName")
   public ImplicitModelFollower(
       Matrix<States, States> A,
       Matrix<States, Inputs> B,

wpimath/src/main/java/edu/wpi/first/math/controller/LTVDifferentialDriveController.java

@@ -45,10 +45,8 @@ public class LTVDifferentialDriveController {
     kLeftVelocity(3),
     kRightVelocity(4);
 
-    @SuppressWarnings("MemberName")
     public final int value;
 
-    @SuppressWarnings("ParameterName")
     State(int i) {
       this.value = i;
     }
@@ -64,7 +62,6 @@ public class LTVDifferentialDriveController {
    * @param relems The maximum desired control effort for each input.
    * @param dt Discretization timestep in seconds.
    */
-  @SuppressWarnings("LocalVariableName")
   public LTVDifferentialDriveController(
       LinearSystem<N2, N2, N2> plant,
       double trackwidth,
@@ -188,7 +185,6 @@ public class LTVDifferentialDriveController {
    * @param rightVelocityRef The desired right velocity in meters per second.
    * @return Left and right output voltages of the LTV controller.
    */
-  @SuppressWarnings("LocalVariableName")
   public DifferentialDriveWheelVoltages calculate(
       Pose2d currentPose,
       double leftVelocity,

wpimath/src/main/java/edu/wpi/first/math/controller/LTVUnicycleController.java

@@ -25,7 +25,6 @@ import edu.wpi.first.math.trajectory.Trajectory;
  * <p>See section 8.9 in Controls Engineering in FRC for a derivation of the control law we used
  * shown in theorem 8.9.1.
  */
-@SuppressWarnings("MemberName")
 public class LTVUnicycleController {
   // LUT from drivetrain linear velocity to LQR gain
   private final InterpolatingMatrixTreeMap<Double, N2, N3> m_table =
@@ -41,10 +40,8 @@ public class LTVUnicycleController {
     kY(1),
     kHeading(2);
 
-    @SuppressWarnings("MemberName")
     public final int value;
 
-    @SuppressWarnings("ParameterName")
     State(int i) {
       this.value = i;
     }
@@ -94,7 +91,6 @@ public class LTVUnicycleController {
    * @param maxVelocity The maximum velocity in meters per second for the controller gain lookup
    *     table. The default is 9 m/s.
    */
-  @SuppressWarnings("LocalVariableName")
   public LTVUnicycleController(
       Vector<N3> qelems, Vector<N2> relems, double dt, double maxVelocity) {
     // The change in global pose for a unicycle is defined by the following
@@ -191,7 +187,6 @@ public class LTVUnicycleController {
 
     m_poseError = poseRef.relativeTo(currentPose);
 
-    @SuppressWarnings("LocalVariableName")
     var K = m_table.get(linearVelocityRef);
     var e =
         new MatBuilder<>(Nat.N3(), Nat.N1())

wpimath/src/main/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforward.java

@@ -20,20 +20,16 @@ import org.ejml.simple.SimpleMatrix;
  * <p>For more on the underlying math, read
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  */
-@SuppressWarnings({"ParameterName", "LocalVariableName", "MemberName", "ClassTypeParameterName"})
 public class LinearPlantInversionFeedforward<
     States extends Num, Inputs extends Num, Outputs extends Num> {
   /** The current reference state. */
-  @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_r;
 
   /** The computed feedforward. */
   private Matrix<Inputs, N1> m_uff;
 
-  @SuppressWarnings("MemberName")
   private final Matrix<States, Inputs> m_B;
 
-  @SuppressWarnings("MemberName")
   private final Matrix<States, States> m_A;
 
   /**
@@ -54,7 +50,6 @@ public class LinearPlantInversionFeedforward<
    * @param B Continuous input matrix of the plant being controlled.
    * @param dtSeconds Discretization timestep.
    */
-  @SuppressWarnings({"ParameterName", "LocalVariableName"})
   public LinearPlantInversionFeedforward(
       Matrix<States, States> A, Matrix<States, Inputs> B, double dtSeconds) {
     var discABPair = Discretization.discretizeAB(A, B, dtSeconds);
@@ -143,7 +138,6 @@ public class LinearPlantInversionFeedforward<
    * @param nextR The reference state of the future timestep (k + dt).
    * @return The calculated feedforward.
    */
-  @SuppressWarnings({"ParameterName", "LocalVariableName"})
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> r, Matrix<States, N1> nextR) {
     m_uff = new Matrix<>(m_B.solve(nextR.minus(m_A.times(r))));
 

wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java

@@ -22,18 +22,14 @@ import org.ejml.simple.SimpleMatrix;
  * <p>For more on the underlying math, read
  * https://file.tavsys.net/control/controls-engineering-in-frc.pdf.
  */
-@SuppressWarnings("ClassTypeParameterName")
 public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Outputs extends Num> {
   /** The current reference state. */
-  @SuppressWarnings("MemberName")
   private Matrix<States, N1> m_r;
 
   /** The computed and capped controller output. */
-  @SuppressWarnings("MemberName")
   private Matrix<Inputs, N1> m_u;
 
   // Controller gain.
-  @SuppressWarnings("MemberName")
   private Matrix<Inputs, States> m_K;
 
   /**
@@ -68,7 +64,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * @param dtSeconds Discretization timestep.
    * @throws IllegalArgumentException If the system is uncontrollable.
    */
-  @SuppressWarnings({"ParameterName", "LocalVariableName"})
   public LinearQuadraticRegulator(
       Matrix<States, States> A,
       Matrix<States, Inputs> B,
@@ -93,7 +88,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * @param dtSeconds Discretization timestep.
    * @throws IllegalArgumentException If the system is uncontrollable.
    */
-  @SuppressWarnings({"LocalVariableName", "ParameterName"})
   public LinearQuadraticRegulator(
       Matrix<States, States> A,
       Matrix<States, Inputs> B,
@@ -145,7 +139,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * @param dtSeconds Discretization timestep.
    * @throws IllegalArgumentException If the system is uncontrollable.
    */
-  @SuppressWarnings({"ParameterName", "LocalVariableName"})
   public LinearQuadraticRegulator(
       Matrix<States, States> A,
       Matrix<States, Inputs> B,
@@ -233,7 +226,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * @param x The current state x.
    * @return The next controller output.
    */
-  @SuppressWarnings("ParameterName")
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> x) {
     m_u = m_K.times(m_r.minus(x));
     return m_u;
@@ -246,7 +238,6 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * @param nextR the next reference vector r.
    * @return The next controller output.
    */
-  @SuppressWarnings("ParameterName")
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> x, Matrix<States, N1> nextR) {
     m_r = nextR;
     return calculate(x);

wpimath/src/main/java/edu/wpi/first/math/controller/ProfiledPIDController.java

@@ -33,7 +33,6 @@ public class ProfiledPIDController implements Sendable {
    * @param Kd The derivative coefficient.
    * @param constraints Velocity and acceleration constraints for goal.
    */
-  @SuppressWarnings("ParameterName")
   public ProfiledPIDController(
       double Kp, double Ki, double Kd, TrapezoidProfile.Constraints constraints) {
     this(Kp, Ki, Kd, constraints, 0.02);
@@ -48,7 +47,6 @@ public class ProfiledPIDController implements Sendable {
    * @param constraints Velocity and acceleration constraints for goal.
    * @param period The period between controller updates in seconds. The default is 0.02 seconds.
    */
-  @SuppressWarnings("ParameterName")
   public ProfiledPIDController(
       double Kp, double Ki, double Kd, TrapezoidProfile.Constraints constraints, double period) {
     m_controller = new PIDController(Kp, Ki, Kd, period);
@@ -66,7 +64,6 @@ public class ProfiledPIDController implements Sendable {
    * @param Ki Integral coefficient
    * @param Kd Differential coefficient
    */
-  @SuppressWarnings("ParameterName")
   public void setPID(double Kp, double Ki, double Kd) {
     m_controller.setPID(Kp, Ki, Kd);
   }
@@ -76,7 +73,6 @@ public class ProfiledPIDController implements Sendable {
    *
    * @param Kp proportional coefficient
    */
-  @SuppressWarnings("ParameterName")
   public void setP(double Kp) {
     m_controller.setP(Kp);
   }
@@ -86,7 +82,6 @@ public class ProfiledPIDController implements Sendable {
    *
    * @param Ki integral coefficient
    */
-  @SuppressWarnings("ParameterName")
   public void setI(double Ki) {
     m_controller.setI(Ki);
   }
@@ -96,7 +91,6 @@ public class ProfiledPIDController implements Sendable {
    *
    * @param Kd differential coefficient
    */
-  @SuppressWarnings("ParameterName")
   public void setD(double Kd) {
     m_controller.setD(Kd);
   }

wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java

@@ -33,10 +33,8 @@ import edu.wpi.first.math.trajectory.Trajectory;
  * derivation and analysis.
  */
 public class RamseteController {
-  @SuppressWarnings("MemberName")
   private final double m_b;
 
-  @SuppressWarnings("MemberName")
   private final double m_zeta;
 
   private Pose2d m_poseError = new Pose2d();
@@ -51,7 +49,6 @@ public class RamseteController {
    * @param zeta Tuning parameter (0 rad⁻¹ < zeta < 1 rad⁻¹) for which larger values provide
    *     more damping in response.
    */
-  @SuppressWarnings("ParameterName")
   public RamseteController(double b, double zeta) {
     m_b = b;
     m_zeta = zeta;
@@ -101,7 +98,6 @@ public class RamseteController {
    * @param angularVelocityRefRadiansPerSecond The desired angular velocity in radians per second.
    * @return The next controller output.
    */
-  @SuppressWarnings("LocalVariableName")
   public ChassisSpeeds calculate(
       Pose2d currentPose,
       Pose2d poseRef,
@@ -141,7 +137,6 @@ public class RamseteController {
    * @param desiredState The desired pose, linear velocity, and angular velocity from a trajectory.
    * @return The next controller output.
    */
-  @SuppressWarnings("LocalVariableName")
   public ChassisSpeeds calculate(Pose2d currentPose, Trajectory.State desiredState) {
     return calculate(
         currentPose,
@@ -164,7 +159,6 @@ public class RamseteController {
    *
    * @param x Value of which to take sinc(x).
    */
-  @SuppressWarnings("ParameterName")
   private static double sinc(double x) {
     if (Math.abs(x) < 1e-9) {
       return 1.0 - 1.0 / 6.0 * x * x;

wpimath/src/main/java/edu/wpi/first/math/controller/SimpleMotorFeedforward.java

@@ -9,7 +9,6 @@ import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.system.plant.LinearSystemId;
 
 /** A helper class that computes feedforward outputs for a simple permanent-magnet DC motor. */
-@SuppressWarnings("MemberName")
 public class SimpleMotorFeedforward {
   public final double ks;
   public final double kv;