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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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4
wpimath/src/main/native/cpp/geometry/Pose2d.cpp
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@@ -22,7 +22,7 @@ Pose2d Pose2d::operator+(const Transform2d& other) const {
Transform2d Pose2d::operator-(const Pose2d& other) const {
const auto pose = this->RelativeTo(other);
return Transform2d(pose.Translation(), pose.Rotation());
return Transform2d{pose.Translation(), pose.Rotation()};
}
bool Pose2d::operator==(const Pose2d& other) const {
@@ -87,7 +87,7 @@ Twist2d Pose2d::Log(const Pose2d& end) const {
{halfThetaByTanOfHalfDtheta, -halfDtheta}) *
std::hypot(halfThetaByTanOfHalfDtheta, halfDtheta);
return {translationPart.X(), translationPart.Y(), units::radian_t(dtheta)};
return {translationPart.X(), translationPart.Y(), units::radian_t{dtheta}};
}
void frc::to_json(wpi::json& json, const Pose2d& pose) {

2
wpimath/src/main/native/cpp/geometry/Pose3d.cpp
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@@ -43,7 +43,7 @@ Pose3d Pose3d::operator+(const Transform3d& other) const {
Transform3d Pose3d::operator-(const Pose3d& other) const {
const auto pose = this->RelativeTo(other);
return Transform3d(pose.Translation(), pose.Rotation());
return Transform3d{pose.Translation(), pose.Rotation()};
}
bool Pose3d::operator==(const Pose3d& other) const {

6
wpimath/src/main/native/cpp/geometry/Rotation2d.cpp
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@@ -31,7 +31,7 @@ Rotation2d::Rotation2d(double x, double y) {
m_sin = 0.0;
m_cos = 1.0;
}
m_value = units::radian_t(std::atan2(m_sin, m_cos));
m_value = units::radian_t{std::atan2(m_sin, m_cos)};
}
Rotation2d Rotation2d::operator+(const Rotation2d& other) const {
@@ -43,11 +43,11 @@ Rotation2d Rotation2d::operator-(const Rotation2d& other) const {
}
Rotation2d Rotation2d::operator-() const {
return Rotation2d(-m_value);
return Rotation2d{-m_value};
}
Rotation2d Rotation2d::operator*(double scalar) const {
return Rotation2d(m_value * scalar);
return Rotation2d{m_value * scalar};
}
bool Rotation2d::operator==(const Rotation2d& other) const {