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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
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/cpp/Drivetrain.cpp
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@@ -27,10 +27,10 @@ void Drivetrain::Drive(units::meters_per_second_t xSpeed,
void Drivetrain::UpdateOdometry() {
m_poseEstimator.Update(m_gyro.GetRotation2d(),
{units::meters_per_second_t(m_leftEncoder.GetRate()),
units::meters_per_second_t(m_rightEncoder.GetRate())},
units::meter_t(m_leftEncoder.GetDistance()),
units::meter_t(m_rightEncoder.GetDistance()));
{units::meters_per_second_t{m_leftEncoder.GetRate()},
units::meters_per_second_t{m_rightEncoder.GetRate()}},
units::meter_t{m_leftEncoder.GetDistance()},
units::meter_t{m_rightEncoder.GetDistance()});
// Also apply vision measurements. We use 0.3 seconds in the past as an
// example -- on a real robot, this must be calculated based either on latency

4
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
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@@ -78,8 +78,8 @@ class Drivetrain {
// Gains are for example purposes only - must be determined for your own
// robot!
frc::DifferentialDrivePoseEstimator m_poseEstimator{
frc::Rotation2d(),
frc::Pose2d(),
frc::Rotation2d{},
frc::Pose2d{},
{0.01, 0.01, 0.01, 0.01, 0.01},
{0.1, 0.1, 0.1},
{0.1, 0.1, 0.1}};

6
wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
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@@ -16,9 +16,9 @@ class ExampleGlobalMeasurementSensor {
static frc::Pose2d GetEstimatedGlobalPose(
const frc::Pose2d& estimatedRobotPose) {
auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
estimatedRobotPose.Y() + units::meter_t(randVec(1)),
return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
estimatedRobotPose.Y() + units::meter_t{randVec(1)},
estimatedRobotPose.Rotation() +
frc::Rotation2d(units::radian_t(randVec(2))));
frc::Rotation2d{units::radian_t{randVec(2)}}};
}
};