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Use stricter C++ type conversions (#4357)

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Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
  auto curTime = units::second_t(m_timer.Get());
                 ^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
This commit is contained in:
Tyler Veness
2022-08-17 13:42:36 -07:00
committed by GitHub
parent 151dabb2af
commit ac9be78e27
139 changed files with 547 additions and 593 deletions
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8
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
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@@ -48,11 +48,11 @@ bool SingleJointedArmSim::WouldHitUpperLimit(units::radian_t armAngle) const {
}
bool SingleJointedArmSim::HasHitLowerLimit() const {
return WouldHitLowerLimit(units::radian_t(m_y(0)));
return WouldHitLowerLimit(units::radian_t{m_y(0)});
}
bool SingleJointedArmSim::HasHitUpperLimit() const {
return WouldHitUpperLimit(units::radian_t(m_y(0)));
return WouldHitUpperLimit(units::radian_t{m_y(0)});
}
units::radian_t SingleJointedArmSim::GetAngle() const {
@@ -102,9 +102,9 @@ Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
currentXhat, u, dt);
// Check for collisions.
if (WouldHitLowerLimit(units::radian_t(updatedXhat(0)))) {
if (WouldHitLowerLimit(units::radian_t{updatedXhat(0)})) {
return Vectord<2>{m_minAngle.value(), 0.0};
} else if (WouldHitUpperLimit(units::radian_t(updatedXhat(0)))) {
} else if (WouldHitUpperLimit(units::radian_t{updatedXhat(0)})) {
return Vectord<2>{m_maxAngle.value(), 0.0};
}
return updatedXhat;