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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/trajectory/TrajectoryGenerator.cpp
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@@ -30,7 +30,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
Spline<3>::ControlVector initial,
const std::vector<Translation2d>& interiorWaypoints,
Spline<3>::ControlVector end, const TrajectoryConfig& config) {
const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
const Transform2d flip{Translation2d{}, 180_deg};
// Make theta normal for trajectory generation if path is reversed.
// Flip the headings.
@@ -76,7 +76,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
Trajectory TrajectoryGenerator::GenerateTrajectory(
std::vector<Spline<5>::ControlVector> controlVectors,
const TrajectoryConfig& config) {
const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
const Transform2d flip{Translation2d{}, 180_deg};
// Make theta normal for trajectory generation if path is reversed.
if (config.IsReversed()) {
for (auto& vector : controlVectors) {
@@ -112,7 +112,7 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
Trajectory TrajectoryGenerator::GenerateTrajectory(
const std::vector<Pose2d>& waypoints, const TrajectoryConfig& config) {
auto newWaypoints = waypoints;
const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
const Transform2d flip{Translation2d{}, 180_deg};
if (config.IsReversed()) {
for (auto& waypoint : newWaypoints) {
waypoint = waypoint + flip;

2
wpimath/src/main/native/cpp/trajectory/constraint/DifferentialDriveVoltageConstraint.cpp
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@@ -23,7 +23,7 @@ DifferentialDriveVoltageConstraint::DifferentialDriveVoltageConstraint(
units::meters_per_second_t DifferentialDriveVoltageConstraint::MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) const {
return units::meters_per_second_t(std::numeric_limits<double>::max());
return units::meters_per_second_t{std::numeric_limits<double>::max()};
}
TrajectoryConstraint::MinMax