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.
2026-06-23 01:21:42 +00:00 · 2022-09-24 00:13:55 -07:00
parent 17f504f548
commit a791470de7
233 changed files with 282 additions and 881 deletions
--- a/wpimath/src/main/java/edu/wpi/first/math/system/Discretization.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/Discretization.java
@@ -9,7 +9,6 @@ import edu.wpi.first.math.Num;
 import edu.wpi.first.math.Pair;
 import org.ejml.simple.SimpleMatrix;

-@SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
 public final class Discretization {
  private Discretization() {
    // Utility class
@@ -39,7 +38,6 @@ public final class Discretization {
   * @param dtSeconds Discretization timestep.
   * @return a Pair representing discA and diskB.
   */
-  @SuppressWarnings("LocalVariableName")
  public static <States extends Num, Inputs extends Num>
      Pair<Matrix<States, States>, Matrix<States, Inputs>> discretizeAB(
          Matrix<States, States> contA, Matrix<States, Inputs> contB, double dtSeconds) {
@@ -74,7 +72,6 @@ public final class Discretization {
   * @param dtSeconds Discretization timestep.
   * @return a pair representing the discrete system matrix and process noise covariance matrix.
   */
-  @SuppressWarnings("LocalVariableName")
  public static <States extends Num>
      Pair<Matrix<States, States>, Matrix<States, States>> discretizeAQ(
          Matrix<States, States> contA, Matrix<States, States> contQ, double dtSeconds) {
@@ -130,7 +127,6 @@ public final class Discretization {
   * @param dtSeconds Discretization timestep.
   * @return a pair representing the discrete system matrix and process noise covariance matrix.
   */
-  @SuppressWarnings("LocalVariableName")
  public static <States extends Num>
      Pair<Matrix<States, States>, Matrix<States, States>> discretizeAQTaylor(
          Matrix<States, States> contA, Matrix<States, States> contQ, double dtSeconds) {
@@ -204,12 +200,12 @@ public final class Discretization {
   * Note that dt=0.0 divides R by zero.
   *
   * @param <O> Nat representing the number of outputs.
-   * @param R Continuous measurement noise covariance matrix.
+   * @param contR Continuous measurement noise covariance matrix.
   * @param dtSeconds Discretization timestep.
   * @return Discretized version of the provided continuous measurement noise covariance matrix.
   */
-  public static <O extends Num> Matrix<O, O> discretizeR(Matrix<O, O> R, double dtSeconds) {
+  public static <O extends Num> Matrix<O, O> discretizeR(Matrix<O, O> contR, double dtSeconds) {
    // R_d = 1/T R
-    return R.div(dtSeconds);
+    return contR.div(dtSeconds);
  }
 }
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystem.java
@@ -8,76 +8,70 @@ import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.Num;
 import edu.wpi.first.math.numbers.N1;

-@SuppressWarnings("ClassTypeParameterName")
 public class LinearSystem<States extends Num, Inputs extends Num, Outputs extends Num> {
  /** Continuous system matrix. */
-  @SuppressWarnings("MemberName")
  private final Matrix<States, States> m_A;

  /** Continuous input matrix. */
-  @SuppressWarnings("MemberName")
  private final Matrix<States, Inputs> m_B;

  /** Output matrix. */
-  @SuppressWarnings("MemberName")
  private final Matrix<Outputs, States> m_C;

  /** Feedthrough matrix. */
-  @SuppressWarnings("MemberName")
  private final Matrix<Outputs, Inputs> m_D;

  /**
   * Construct a new LinearSystem from the four system matrices.
   *
-   * @param a The system matrix A.
-   * @param b The input matrix B.
-   * @param c The output matrix C.
-   * @param d The feedthrough matrix D.
+   * @param A The system matrix A.
+   * @param B The input matrix B.
+   * @param C The output matrix C.
+   * @param D The feedthrough matrix D.
   * @throws IllegalArgumentException if any matrix element isn't finite.
   */
-  @SuppressWarnings("ParameterName")
  public LinearSystem(
-      Matrix<States, States> a,
-      Matrix<States, Inputs> b,
-      Matrix<Outputs, States> c,
-      Matrix<Outputs, Inputs> d) {
-    for (int row = 0; row < a.getNumRows(); ++row) {
-      for (int col = 0; col < a.getNumCols(); ++col) {
-        if (!Double.isFinite(a.get(row, col))) {
+      Matrix<States, States> A,
+      Matrix<States, Inputs> B,
+      Matrix<Outputs, States> C,
+      Matrix<Outputs, Inputs> D) {
+    for (int row = 0; row < A.getNumRows(); ++row) {
+      for (int col = 0; col < A.getNumCols(); ++col) {
+        if (!Double.isFinite(A.get(row, col))) {
          throw new IllegalArgumentException(
              "Elements of A aren't finite. This is usually due to model implementation errors.");
        }
      }
    }
-    for (int row = 0; row < b.getNumRows(); ++row) {
-      for (int col = 0; col < b.getNumCols(); ++col) {
-        if (!Double.isFinite(b.get(row, col))) {
+    for (int row = 0; row < B.getNumRows(); ++row) {
+      for (int col = 0; col < B.getNumCols(); ++col) {
+        if (!Double.isFinite(B.get(row, col))) {
          throw new IllegalArgumentException(
              "Elements of B aren't finite. This is usually due to model implementation errors.");
        }
      }
    }
-    for (int row = 0; row < c.getNumRows(); ++row) {
-      for (int col = 0; col < c.getNumCols(); ++col) {
-        if (!Double.isFinite(c.get(row, col))) {
+    for (int row = 0; row < C.getNumRows(); ++row) {
+      for (int col = 0; col < C.getNumCols(); ++col) {
+        if (!Double.isFinite(C.get(row, col))) {
          throw new IllegalArgumentException(
              "Elements of C aren't finite. This is usually due to model implementation errors.");
        }
      }
    }
-    for (int row = 0; row < d.getNumRows(); ++row) {
-      for (int col = 0; col < d.getNumCols(); ++col) {
-        if (!Double.isFinite(d.get(row, col))) {
+    for (int row = 0; row < D.getNumRows(); ++row) {
+      for (int col = 0; col < D.getNumCols(); ++col) {
+        if (!Double.isFinite(D.get(row, col))) {
          throw new IllegalArgumentException(
              "Elements of D aren't finite. This is usually due to model implementation errors.");
        }
      }
    }

-    this.m_A = a;
-    this.m_B = b;
-    this.m_C = c;
-    this.m_D = d;
+    this.m_A = A;
+    this.m_B = B;
+    this.m_C = C;
+    this.m_D = D;
  }

  /**
@@ -170,7 +164,6 @@ public class LinearSystem<States extends Num, Inputs extends Num, Outputs extend
   * @param dtSeconds Timestep for model update.
   * @return the updated x.
   */
-  @SuppressWarnings("ParameterName")
  public Matrix<States, N1> calculateX(
      Matrix<States, N1> x, Matrix<Inputs, N1> clampedU, double dtSeconds) {
    var discABpair = Discretization.discretizeAB(m_A, m_B, dtSeconds);
@@ -187,7 +180,6 @@ public class LinearSystem<States extends Num, Inputs extends Num, Outputs extend
   * @param clampedU The control input.
   * @return the updated output matrix Y.
   */
-  @SuppressWarnings("ParameterName")
  public Matrix<Outputs, N1> calculateY(Matrix<States, N1> x, Matrix<Inputs, N1> clampedU) {
    return m_C.times(x).plus(m_D.times(clampedU));
  }
--- a/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java
@@ -28,7 +28,6 @@ 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 LinearSystemLoop<States extends Num, Inputs extends Num, Outputs extends Num> {
  private final LinearQuadraticRegulator<States, Inputs, Outputs> m_controller;
  private final LinearPlantInversionFeedforward<States, Inputs, Outputs> m_feedforward;
@@ -315,7 +314,6 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs ex
   *
   * @param y Measurement vector.
   */
-  @SuppressWarnings("ParameterName")
  public void correct(Matrix<Outputs, N1> y) {
    getObserver().correct(getU(), y);
  }
@@ -327,7 +325,6 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs ex
   *
   * @param dtSeconds Timestep for model update.
   */
-  @SuppressWarnings("LocalVariableName")
  public void predict(double dtSeconds) {
    var u =
        clampInput(
--- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
@@ -24,7 +24,7 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return the integration of dx/dt = f(x) for dt.
   */
-  @SuppressWarnings({"ParameterName", "overloads"})
+  @SuppressWarnings("overloads")
  public static double rk4(DoubleFunction<Double> f, double x, double dtSeconds) {
    final var h = dtSeconds;
    final var k1 = f.apply(x);
@@ -44,7 +44,7 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return The result of Runge Kutta integration (4th order).
   */
-  @SuppressWarnings({"ParameterName", "overloads"})
+  @SuppressWarnings("overloads")
  public static double rk4(
      BiFunction<Double, Double, Double> f, double x, Double u, double dtSeconds) {
    final var h = dtSeconds;
@@ -68,7 +68,7 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings({"ParameterName", "MethodTypeParameterName", "overloads"})
+  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rk4(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
@@ -93,7 +93,7 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
   */
-  @SuppressWarnings({"ParameterName", "MethodTypeParameterName", "overloads"})
+  @SuppressWarnings("overloads")
  public static <States extends Num> Matrix<States, N1> rk4(
      Function<Matrix<States, N1>, Matrix<States, N1>> f, Matrix<States, N1> x, double dtSeconds) {
    final var h = dtSeconds;
@@ -119,7 +119,7 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("MethodTypeParameterName")
+  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkf45(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
@@ -141,7 +141,7 @@ public final class NumericalIntegration {
   * @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("MethodTypeParameterName")
+  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkf45(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
@@ -251,7 +251,7 @@ public final class NumericalIntegration {
   * @param dtSeconds The time over which to integrate.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("MethodTypeParameterName")
+  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
@@ -272,7 +272,7 @@ public final class NumericalIntegration {
   * @param maxError The maximum acceptable truncation error. Usually a small number like 1e-6.
   * @return the integration of dx/dt = f(x, u) for dt.
   */
-  @SuppressWarnings("MethodTypeParameterName")
+  @SuppressWarnings("overloads")
  public static <States extends Num, Inputs extends Num> Matrix<States, N1> rkdp(
      BiFunction<Matrix<States, N1>, Matrix<Inputs, N1>, Matrix<States, N1>> f,
      Matrix<States, N1> x,
--- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalJacobian.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalJacobian.java
@@ -30,7 +30,6 @@ public final class NumericalJacobian {
   * @param x Vector argument.
   * @return The numerical Jacobian with respect to x for f(x, u, ...).
   */
-  @SuppressWarnings({"ParameterName", "MethodTypeParameterName"})
  public static <Rows extends Num, Cols extends Num, States extends Num>
      Matrix<Rows, Cols> numericalJacobian(
          Nat<Rows> rows,
@@ -44,7 +43,6 @@ public final class NumericalJacobian {
      var dxMinus = x.copy();
      dxPlus.set(i, 0, dxPlus.get(i, 0) + kEpsilon);
      dxMinus.set(i, 0, dxMinus.get(i, 0) - kEpsilon);
-      @SuppressWarnings("LocalVariableName")
      var dF = f.apply(dxPlus).minus(f.apply(dxMinus)).div(2 * kEpsilon);

      result.setColumn(i, Matrix.changeBoundsUnchecked(dF));
@@ -67,7 +65,6 @@ public final class NumericalJacobian {
   * @param u Input vector.
   * @return The numerical Jacobian with respect to x for f(x, u, ...).
   */
-  @SuppressWarnings({"LambdaParameterName", "MethodTypeParameterName"})
  public static <Rows extends Num, States extends Num, Inputs extends Num, Outputs extends Num>
      Matrix<Rows, States> numericalJacobianX(
          Nat<Rows> rows,
@@ -91,7 +88,6 @@ public final class NumericalJacobian {
   * @param u Input vector.
   * @return the numerical Jacobian with respect to u for f(x, u).
   */
-  @SuppressWarnings({"LambdaParameterName", "MethodTypeParameterName"})
  public static <Rows extends Num, States extends Num, Inputs extends Num>
      Matrix<Rows, Inputs> numericalJacobianU(
          Nat<Rows> rows,
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
@@ -8,28 +8,13 @@ import edu.wpi.first.math.util.Units;

 /** Holds the constants for a DC motor. */
 public class DCMotor {
-  @SuppressWarnings("MemberName")
  public final double nominalVoltageVolts;
-
-  @SuppressWarnings("MemberName")
  public final double stallTorqueNewtonMeters;
-
-  @SuppressWarnings("MemberName")
  public final double stallCurrentAmps;
-
-  @SuppressWarnings("MemberName")
  public final double freeCurrentAmps;
-
-  @SuppressWarnings("MemberName")
  public final double freeSpeedRadPerSec;
-
-  @SuppressWarnings("MemberName")
  public final double rOhms;
-
-  @SuppressWarnings("MemberName")
  public final double KvRadPerSecPerVolt;
-
-  @SuppressWarnings("MemberName")
  public final double KtNMPerAmp;

  /**
--- a/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
@@ -27,7 +27,6 @@ public final class LinearSystemId {
   * @return A LinearSystem representing the given characterized constants.
   * @throws IllegalArgumentException if massKg &lt;= 0, radiusMeters &lt;= 0, or G &lt;= 0.
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N2, N1, N1> createElevatorSystem(
      DCMotor motor, double massKg, double radiusMeters, double G) {
    if (massKg <= 0.0) {
@@ -68,7 +67,6 @@ public final class LinearSystemId {
   * @return A LinearSystem representing the given characterized constants.
   * @throws IllegalArgumentException if JKgMetersSquared &lt;= 0 or G &lt;= 0.
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N1, N1, N1> createFlywheelSystem(
      DCMotor motor, double JKgMetersSquared, double G) {
    if (JKgMetersSquared <= 0.0) {
@@ -100,7 +98,6 @@ public final class LinearSystemId {
   * @return A LinearSystem representing the given characterized constants.
   * @throws IllegalArgumentException if JKgMetersSquared &lt;= 0 or G &lt;= 0.
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N2, N1, N2> createDCMotorSystem(
      DCMotor motor, double JKgMetersSquared, double G) {
    if (JKgMetersSquared <= 0.0) {
@@ -139,7 +136,6 @@ public final class LinearSystemId {
   * @return A LinearSystem representing a differential drivetrain.
   * @throws IllegalArgumentException if m &lt;= 0, r &lt;= 0, rb &lt;= 0, J &lt;= 0, or G &lt;= 0.
   */
-  @SuppressWarnings({"LocalVariableName", "ParameterName"})
  public static LinearSystem<N2, N2, N2> createDrivetrainVelocitySystem(
      DCMotor motor,
      double massKg,
@@ -187,7 +183,6 @@ public final class LinearSystemId {
   *     will be greater than 1.
   * @return A LinearSystem representing the given characterized constants.
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N2, N1, N1> createSingleJointedArmSystem(
      DCMotor motor, double JKgSquaredMeters, double G) {
    if (JKgSquaredMeters <= 0.0) {
@@ -229,7 +224,6 @@ public final class LinearSystemId {
   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N1, N1, N1> identifyVelocitySystem(double kV, double kA) {
    if (kV <= 0.0) {
      throw new IllegalArgumentException("Kv must be greater than zero.");
@@ -263,7 +257,6 @@ public final class LinearSystemId {
   * @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N2, N1, N1> identifyPositionSystem(double kV, double kA) {
    if (kV <= 0.0) {
      throw new IllegalArgumentException("Kv must be greater than zero.");
@@ -297,7 +290,6 @@ public final class LinearSystemId {
   *     kAAngular &lt;= 0.
   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
      double kVLinear, double kALinear, double kVAngular, double kAAngular) {
    if (kVLinear <= 0.0) {
@@ -345,7 +337,6 @@ public final class LinearSystemId {
   *     kAAngular &lt;= 0, or trackwidth &lt;= 0.
   * @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
   */
-  @SuppressWarnings("ParameterName")
  public static LinearSystem<N2, N2, N2> identifyDrivetrainSystem(
      double kVLinear, double kALinear, double kVAngular, double kAAngular, double trackwidth) {
    if (kVLinear <= 0.0) {