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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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6
wpimath/src/main/native/cpp/estimator/DifferentialDrivePoseEstimator.cpp
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@@ -65,9 +65,9 @@ void DifferentialDrivePoseEstimator::ResetPosition(
}
Pose2d DifferentialDrivePoseEstimator::GetEstimatedPosition() const {
return Pose2d(units::meter_t(m_observer.Xhat(0)),
units::meter_t(m_observer.Xhat(1)),
Rotation2d(units::radian_t(m_observer.Xhat(2))));
return Pose2d{units::meter_t{m_observer.Xhat(0)},
units::meter_t{m_observer.Xhat(1)},
units::radian_t{m_observer.Xhat(2)}};
}
void DifferentialDrivePoseEstimator::AddVisionMeasurement(