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Clean up Java warning suppressions (#4433)

Browse Source 
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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1
wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
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@@ -10,7 +10,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
@SuppressWarnings({"ParameterName", "LocalVariableName"})
class DrakeTest {
public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
for (int i = 0; i < A.numRows(); i++) {

2
wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
View File

@@ -50,7 +50,6 @@ class StateSpaceUtilTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testIsStabilizable() {
Matrix<N2, N2> A;
Matrix<N2, N1> B = VecBuilder.fill(0, 1);
@@ -77,7 +76,6 @@ class StateSpaceUtilTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testIsDetectable() {
Matrix<N2, N2> A;
Matrix<N1, N2> C = Matrix.mat(Nat.N1(), Nat.N2()).fill(0, 1);

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

@@ -14,7 +14,6 @@ import edu.wpi.first.math.numbers.N2;
import org.junit.jupiter.api.Test;
class ControlAffinePlantInversionFeedforwardTest {
@SuppressWarnings("LocalVariableName")
@Test
void testCalculate() {
ControlAffinePlantInversionFeedforward<N2, N1> feedforward =
@@ -25,7 +24,6 @@ class ControlAffinePlantInversionFeedforwardTest {
48.0, feedforward.calculate(VecBuilder.fill(2, 2), VecBuilder.fill(3, 3)).get(0, 0), 1e-6);
}
@SuppressWarnings("LocalVariableName")
@Test
void testCalculateState() {
ControlAffinePlantInversionFeedforward<N2, N1> feedforward =
@@ -36,7 +34,6 @@ class ControlAffinePlantInversionFeedforwardTest {
48.0, feedforward.calculate(VecBuilder.fill(2, 2), VecBuilder.fill(3, 3)).get(0, 0), 1e-6);
}
@SuppressWarnings("ParameterName")
protected Matrix<N2, N1> getDynamics(Matrix<N2, N1> x, Matrix<N1, N1> u) {
return Matrix.mat(Nat.N2(), Nat.N2())
.fill(1.000, 0, 0, 1.000)
@@ -44,7 +41,6 @@ class ControlAffinePlantInversionFeedforwardTest {
.plus(VecBuilder.fill(0, 1).times(u));
}
@SuppressWarnings("ParameterName")
protected Matrix<N2, N1> getStateDynamics(Matrix<N2, N1> x) {
return Matrix.mat(Nat.N2(), Nat.N2()).fill(1.000, 0, 0, 1.000).times(x);
}

2
wpimath/src/test/java/edu/wpi/first/math/controller/DifferentialDriveAccelerationLimiterTest.java
View File

@@ -14,7 +14,6 @@ import org.junit.jupiter.api.Test;
class DifferentialDriveAccelerationLimiterTest {
@Test
@SuppressWarnings("LocalVariableName")
void testLowLimits() {
final double trackwidth = 0.9;
final double dt = 0.005;
@@ -137,7 +136,6 @@ class DifferentialDriveAccelerationLimiterTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testHighLimits() {
final double trackwidth = 0.9;
final double dt = 0.005;

2
wpimath/src/test/java/edu/wpi/first/math/controller/ImplicitModelFollowerTest.java
View File

@@ -15,7 +15,6 @@ import org.junit.jupiter.api.Test;
class ImplicitModelFollowerTest {
@Test
@SuppressWarnings("LocalVariableName")
void testSameModel() {
final double dt = 0.005;
@@ -58,7 +57,6 @@ class ImplicitModelFollowerTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testSlowerRefModel() {
final double dt = 0.005;

1
wpimath/src/test/java/edu/wpi/first/math/controller/LinearPlantInversionFeedforwardTest.java
View File

@@ -14,7 +14,6 @@ import edu.wpi.first.math.numbers.N2;
import org.junit.jupiter.api.Test;
class LinearPlantInversionFeedforwardTest {
@SuppressWarnings("LocalVariableName")
@Test
void testCalculate() {
Matrix<N2, N2> A = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);

6
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
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@@ -17,7 +17,6 @@ import org.junit.jupiter.api.Test;
class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
void testLQROnElevator() {
var motors = DCMotor.getVex775Pro(2);
@@ -38,7 +37,6 @@ class LinearQuadraticRegulatorTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testFourMotorElevator() {
var dt = 0.020;
@@ -55,7 +53,6 @@ class LinearQuadraticRegulatorTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testLQROnArm() {
var motors = DCMotor.getVex775Pro(2);
@@ -89,7 +86,6 @@ class LinearQuadraticRegulatorTest {
* @param Aref Desired state matrix.
* @param dtSeconds Discretization timestep in seconds.
*/
@SuppressWarnings({"LocalVariableName", "MethodTypeParameterName", "ParameterName"})
<States extends Num, Inputs extends Num> Matrix<Inputs, States> getImplicitModelFollowingK(
Matrix<States, States> A,
Matrix<States, Inputs> B,
@@ -114,7 +110,6 @@ class LinearQuadraticRegulatorTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testMatrixOverloadsWithSingleIntegrator() {
var A = Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 0, 0, 0);
var B = Matrix.mat(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
@@ -138,7 +133,6 @@ class LinearQuadraticRegulatorTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testMatrixOverloadsWithDoubleIntegrator() {
double Kv = 3.02;
double Ka = 0.642;

3
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
View File

@@ -40,7 +40,6 @@ class LinearSystemLoopTest {
private final LinearSystemLoop<N2, N1, N1> m_loop =
new LinearSystemLoop<>(m_plant, m_controller, m_observer, 12, 0.00505);
@SuppressWarnings("LocalVariableName")
private static void updateTwoState(
LinearSystem<N2, N1, N1> plant, LinearSystemLoop<N2, N1, N1> loop, double noise) {
Matrix<N1, N1> y = plant.calculateY(loop.getXHat(), loop.getU()).plus(VecBuilder.fill(noise));
@@ -50,7 +49,6 @@ class LinearSystemLoopTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testStateSpaceEnabled() {
m_loop.reset(VecBuilder.fill(0, 0));
Matrix<N2, N1> references = VecBuilder.fill(2.0, 0.0);
@@ -79,7 +77,6 @@ class LinearSystemLoopTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testFlywheelEnabled() {
LinearSystem<N1, N1, N1> plant =
LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00289, 1.0);

1
wpimath/src/test/java/edu/wpi/first/math/controller/SimpleMotorFeedforwardTest.java
View File

@@ -13,7 +13,6 @@ import edu.wpi.first.math.numbers.N1;
import org.junit.jupiter.api.Test;
class SimpleMotorFeedforwardTest {
@SuppressWarnings("LocalVariableName")
@Test
void testCalculate() {
double Ks = 0.5;

1
wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
View File

@@ -22,7 +22,6 @@ import java.util.Random;
import org.junit.jupiter.api.Test;
class DifferentialDrivePoseEstimatorTest {
@SuppressWarnings("LocalVariableName")
@Test
void testAccuracy() {
var estimator =

3
wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
View File

@@ -26,7 +26,6 @@ import java.util.Arrays;
import java.util.List;
import org.junit.jupiter.api.Test;
@SuppressWarnings("ParameterName")
class ExtendedKalmanFilterTest {
private static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N2, N1> u) {
final var motors = DCMotor.getCIM(2);
@@ -68,7 +67,6 @@ class ExtendedKalmanFilterTest {
return VecBuilder.fill(x.get(0, 0), x.get(1, 0), x.get(2, 0), x.get(3, 0), x.get(4, 0));
}
@SuppressWarnings("LocalVariableName")
@Test
void testInit() {
double dtSeconds = 0.00505;
@@ -99,7 +97,6 @@ class ExtendedKalmanFilterTest {
});
}
@SuppressWarnings("LocalVariableName")
@Test
void testConvergence() {
double dtSeconds = 0.00505;

3
wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
View File

@@ -34,7 +34,6 @@ class KalmanFilterTest {
createElevator();
}
@SuppressWarnings("LocalVariableName")
private static void createElevator() {
var motors = DCMotor.getVex775Pro(2);
@@ -61,7 +60,6 @@ class KalmanFilterTest {
new Matrix<>(Nat.N3(), Nat.N3())); // D
@Test
@SuppressWarnings("LocalVariableName")
void testElevatorKalmanFilter() {
var Q = VecBuilder.fill(0.05, 1.0);
var R = VecBuilder.fill(0.0001);
@@ -136,7 +134,6 @@ class KalmanFilterTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testSwerveKFMovingOverTrajectory() {
var random = new Random();

1
wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
View File

@@ -20,7 +20,6 @@ import org.junit.jupiter.api.Test;
class MecanumDrivePoseEstimatorTest {
@Test
@SuppressWarnings("LocalVariableName")
void testAccuracy() {
var kinematics =
new MecanumDriveKinematics(

1
wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
View File

@@ -20,7 +20,6 @@ import org.junit.jupiter.api.Test;
class SwerveDrivePoseEstimatorTest {
@Test
@SuppressWarnings("LocalVariableName")
void testAccuracy() {
var kinematics =
new SwerveDriveKinematics(

9
wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
View File

@@ -30,7 +30,6 @@ import java.util.List;
import org.junit.jupiter.api.Test;
class UnscentedKalmanFilterTest {
@SuppressWarnings({"LocalVariableName", "ParameterName"})
private static Matrix<N5, N1> getDynamics(Matrix<N5, N1> x, Matrix<N2, N1> u) {
var motors = DCMotor.getCIM(2);
@@ -63,18 +62,17 @@ class UnscentedKalmanFilterTest {
k2 * (C1 * vl + C2 * Vl) + k1 * (C1 * vr + C2 * Vr));
}
@SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
@SuppressWarnings("PMD.UnusedFormalParameter")
private static Matrix<N3, N1> getLocalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
return VecBuilder.fill(x.get(2, 0), x.get(3, 0), x.get(4, 0));
}
@SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
@SuppressWarnings("PMD.UnusedFormalParameter")
private static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
return x.copy();
}
@Test
@SuppressWarnings("LocalVariableName")
void testInit() {
var dtSeconds = 0.005;
assertDoesNotThrow(
@@ -117,7 +115,6 @@ class UnscentedKalmanFilterTest {
});
}
@SuppressWarnings("LocalVariableName")
@Test
void testConvergence() {
double dtSeconds = 0.005;
@@ -224,7 +221,6 @@ class UnscentedKalmanFilterTest {
}
@Test
@SuppressWarnings({"LocalVariableName", "ParameterName"})
void testLinearUKF() {
var dt = 0.020;
var plant = LinearSystemId.identifyVelocitySystem(0.02, 0.006);
@@ -254,7 +250,6 @@ class UnscentedKalmanFilterTest {
assertEquals(ref.get(0, 0), observer.getXhat(0), 5);
}
@SuppressWarnings("LocalVariableName")
@Test
void testRoundTripP() {
var dtSeconds = 0.005;

2
wpimath/src/test/java/edu/wpi/first/math/geometry/CoordinateSystemTest.java
View File

@@ -29,7 +29,6 @@ class CoordinateSystemTest {
assertEquals(poseFrom, CoordinateSystem.convert(poseTo, coordTo, coordFrom));
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testEDNtoNWU() {
// No rotation from EDN to NWU
@@ -80,7 +79,6 @@ class CoordinateSystemTest {
CoordinateSystem.NWU());
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testEDNtoNED() {
// No rotation from EDN to NED

5
wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
View File

@@ -17,7 +17,6 @@ class Pose3dTest {
@Test
void testTransformBy() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var initial =
@@ -38,7 +37,6 @@ class Pose3dTest {
@Test
void testRelativeTo() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var initial = new Pose3d(0.0, 0.0, 0.0, new Rotation3d(zAxis, Units.degreesToRadians(45.0)));
@@ -54,7 +52,6 @@ class Pose3dTest {
@Test
void testEquality() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var one = new Pose3d(0.0, 5.0, 0.0, new Rotation3d(zAxis, Units.degreesToRadians(43.0)));
@@ -64,7 +61,6 @@ class Pose3dTest {
@Test
void testInequality() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var one = new Pose3d(0.0, 5.0, 0.0, new Rotation3d(zAxis, Units.degreesToRadians(43.0)));
@@ -74,7 +70,6 @@ class Pose3dTest {
@Test
void testMinus() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var initial = new Pose3d(0.0, 0.0, 0.0, new Rotation3d(zAxis, Units.degreesToRadians(45.0)));

1
wpimath/src/test/java/edu/wpi/first/math/geometry/QuaternionTest.java
View File

@@ -47,7 +47,6 @@ class QuaternionTest {
+ q3.getZ() * q3.getZ());
}
@SuppressWarnings("LocalVariableName")
@Test
void testTimes() {
// 90° CCW rotations around each axis

20
wpimath/src/test/java/edu/wpi/first/math/geometry/Rotation3dTest.java
View File

@@ -21,19 +21,16 @@ class Rotation3dTest {
@Test
void testInitAxisAngleAndRollPitchYaw() {
@SuppressWarnings("LocalVariableName")
final var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);
final var rot1 = new Rotation3d(xAxis, Math.PI / 3);
final var rot2 = new Rotation3d(Math.PI / 3, 0.0, 0.0);
assertEquals(rot1, rot2);
@SuppressWarnings("LocalVariableName")
final var yAxis = VecBuilder.fill(0.0, 1.0, 0.0);
final var rot3 = new Rotation3d(yAxis, Math.PI / 3);
final var rot4 = new Rotation3d(0.0, Math.PI / 3, 0.0);
assertEquals(rot3, rot4);
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
final var rot5 = new Rotation3d(zAxis, Math.PI / 3);
final var rot6 = new Rotation3d(0.0, 0.0, Math.PI / 3);
@@ -68,11 +65,8 @@ class Rotation3dTest {
@Test
void testInitTwoVector() {
@SuppressWarnings("LocalVariableName")
final var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);
@SuppressWarnings("LocalVariableName")
final var yAxis = VecBuilder.fill(0.0, 1.0, 0.0);
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
// 90 degree CW rotation around y-axis
@@ -128,7 +122,6 @@ class Rotation3dTest {
@Test
void testRadiansToDegrees() {
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var rot1 = new Rotation3d(zAxis, Math.PI / 3);
@@ -146,7 +139,6 @@ class Rotation3dTest {
@Test
void testRadiansAndDegrees() {
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var rot1 = new Rotation3d(zAxis, Units.degreesToRadians(45.0));
@@ -162,7 +154,6 @@ class Rotation3dTest {
() -> assertEquals(Math.PI / 6.0, rot2.getZ(), kEpsilon));
}
@SuppressWarnings("LocalVariableName")
@Test
void testRotationLoop() {
var rot = new Rotation3d();
@@ -186,7 +177,6 @@ class Rotation3dTest {
assertEquals(new Rotation3d(), rot);
}
@SuppressWarnings("LocalVariableName")
@Test
void testRotateByFromZeroX() {
final var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);
@@ -198,7 +188,6 @@ class Rotation3dTest {
assertEquals(expected, rotated);
}
@SuppressWarnings("LocalVariableName")
@Test
void testRotateByFromZeroY() {
final var yAxis = VecBuilder.fill(0.0, 1.0, 0.0);
@@ -210,7 +199,6 @@ class Rotation3dTest {
assertEquals(expected, rotated);
}
@SuppressWarnings("LocalVariableName")
@Test
void testRotateByFromZeroZ() {
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
@@ -224,7 +212,6 @@ class Rotation3dTest {
@Test
void testRotateByNonZeroX() {
@SuppressWarnings("LocalVariableName")
final var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);
var rot = new Rotation3d(xAxis, Units.degreesToRadians(90.0));
@@ -236,7 +223,6 @@ class Rotation3dTest {
@Test
void testRotateByNonZeroY() {
@SuppressWarnings("LocalVariableName")
final var yAxis = VecBuilder.fill(0.0, 1.0, 0.0);
var rot = new Rotation3d(yAxis, Units.degreesToRadians(90.0));
@@ -248,7 +234,6 @@ class Rotation3dTest {
@Test
void testRotateByNonZeroZ() {
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var rot = new Rotation3d(zAxis, Units.degreesToRadians(90.0));
@@ -260,7 +245,6 @@ class Rotation3dTest {
@Test
void testMinus() {
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var rot1 = new Rotation3d(zAxis, Units.degreesToRadians(70.0));
@@ -271,7 +255,6 @@ class Rotation3dTest {
@Test
void testEquality() {
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var rot1 = new Rotation3d(zAxis, Units.degreesToRadians(43.0));
@@ -283,7 +266,6 @@ class Rotation3dTest {
assertEquals(rot1, rot2);
}
@SuppressWarnings("LocalVariableName")
@Test
void testAxisAngle() {
final var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);
@@ -317,7 +299,6 @@ class Rotation3dTest {
@Test
void testInequality() {
@SuppressWarnings("LocalVariableName")
final var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var rot1 = new Rotation3d(zAxis, Units.degreesToRadians(43.0));
@@ -325,7 +306,6 @@ class Rotation3dTest {
assertNotEquals(rot1, rot2);
}
@SuppressWarnings("LocalVariableName")
@Test
void testInterpolate() {
final var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);

2
wpimath/src/test/java/edu/wpi/first/math/geometry/Transform3dTest.java
View File

@@ -16,7 +16,6 @@ class Transform3dTest {
@Test
void testInverse() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var initial =
@@ -40,7 +39,6 @@ class Transform3dTest {
@Test
void testComposition() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var initial =

2
wpimath/src/test/java/edu/wpi/first/math/geometry/Translation3dTest.java
View File

@@ -41,7 +41,6 @@ class Translation3dTest {
() -> assertEquals(-3.0, difference.getZ(), kEpsilon));
}
@SuppressWarnings("LocalVariableName")
@Test
void testRotateBy() {
var xAxis = VecBuilder.fill(1.0, 0.0, 0.0);
@@ -139,7 +138,6 @@ class Translation3dTest {
@Test
void testPolarConstructor() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var one = new Translation3d(Math.sqrt(2), new Rotation3d(zAxis, Units.degreesToRadians(45.0)));

1
wpimath/src/test/java/edu/wpi/first/math/geometry/Twist3dTest.java
View File

@@ -41,7 +41,6 @@ class Twist3dTest {
@Test
void testQuarterCirle() {
@SuppressWarnings("LocalVariableName")
var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
var quarterCircle = new Twist3d(5.0 / 2.0 * Math.PI, 0.0, 0.0, 0.0, 0.0, Math.PI / 2.0);

5
wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java
View File

@@ -23,7 +23,6 @@ class CubicHermiteSplineTest {
private static final double kMaxDy = 0.00127;
private static final double kMaxDtheta = 0.0872;
@SuppressWarnings("ParameterName")
private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
// Start the timer.
// var start = System.nanoTime();
@@ -97,13 +96,11 @@ class CubicHermiteSplineTest {
1E-9));
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testStraightLine() {
run(new Pose2d(), new ArrayList<>(), new Pose2d(3, 0, new Rotation2d()));
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testSCurve() {
var start = new Pose2d(0, 0, Rotation2d.fromDegrees(90.0));
@@ -115,7 +112,6 @@ class CubicHermiteSplineTest {
run(start, waypoints, end);
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testOneInterior() {
var start = new Pose2d(0, 0, Rotation2d.fromDegrees(0.0));
@@ -126,7 +122,6 @@ class CubicHermiteSplineTest {
run(start, waypoints, end);
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testWindyPath() {
final var start = new Pose2d(0, 0, Rotation2d.fromDegrees(0.0));

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

@@ -20,7 +20,6 @@ class QuinticHermiteSplineTest {
private static final double kMaxDy = 0.00127;
private static final double kMaxDtheta = 0.0872;
@SuppressWarnings("ParameterName")
private void run(Pose2d a, Pose2d b) {
// Start the timer.
// var start = System.nanoTime();
@@ -68,19 +67,16 @@ class QuinticHermiteSplineTest {
1E-9));
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testStraightLine() {
run(new Pose2d(), new Pose2d(3, 0, new Rotation2d()));
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testSimpleSCurve() {
run(new Pose2d(), new Pose2d(1, 1, new Rotation2d()));
}
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
@Test
void testSquiggly() {
run(

1
wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVarying.java
View File

@@ -23,7 +23,6 @@ public final class RungeKuttaTimeVarying {
* @param y The initial value of y.
* @param dtSeconds The time over which to integrate.
*/
@SuppressWarnings("MethodTypeParameterName")
public static <Rows extends Num, Cols extends Num> Matrix<Rows, Cols> rungeKuttaTimeVarying(
BiFunction<Double, Matrix<Rows, Cols>, Matrix<Rows, Cols>> f,
double t,

1
wpimath/src/test/java/edu/wpi/first/math/trajectory/CentripetalAccelerationConstraintTest.java
View File

@@ -12,7 +12,6 @@ import java.util.Collections;
import org.junit.jupiter.api.Test;
class CentripetalAccelerationConstraintTest {
@SuppressWarnings("LocalVariableName")
@Test
void testCentripetalAccelerationConstraint() {
double maxCentripetalAcceleration = Units.feetToMeters(7.0); // 7 feet per second squared

1
wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java
View File

@@ -15,7 +15,6 @@ import java.util.Collections;
import org.junit.jupiter.api.Test;
class DifferentialDriveKinematicsConstraintTest {
@SuppressWarnings("LocalVariableName")
@Test
void testDifferentialDriveKinematicsConstraint() {
double maxVelocity = Units.feetToMeters(12.0); // 12 feet per second

1
wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java
View File

@@ -20,7 +20,6 @@ import java.util.Collections;
import org.junit.jupiter.api.Test;
class DifferentialDriveVoltageConstraintTest {
@SuppressWarnings("LocalVariableName")
@Test
void testDifferentialDriveVoltageConstraint() {
// Pick an unreasonably large kA to ensure the constraint has to do some work

1
wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryGeneratorTest.java
View File

@@ -50,7 +50,6 @@ class TrajectoryGeneratorTest {
}
@Test
@SuppressWarnings("LocalVariableName")
void testGenerationAndConstraints() {
Trajectory trajectory = getTrajectory(new ArrayList<>());