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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
wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
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@@ -140,8 +140,8 @@ class SwerveDrivePoseEstimator {
* @return The estimated robot pose in meters.
*/
Pose2d GetEstimatedPosition() const {
return Pose2d(m_observer.Xhat(0) * 1_m, m_observer.Xhat(1) * 1_m,
Rotation2d(units::radian_t{m_observer.Xhat(2)}));
return Pose2d{m_observer.Xhat(0) * 1_m, m_observer.Xhat(1) * 1_m,
Rotation2d{units::radian_t{m_observer.Xhat(2)}}};
}
/**
@@ -274,8 +274,8 @@ class SwerveDrivePoseEstimator {
auto chassisSpeeds = m_kinematics.ToChassisSpeeds(moduleStates...);
auto fieldRelativeSpeeds =
Translation2d(chassisSpeeds.vx * 1_s, chassisSpeeds.vy * 1_s)
.RotateBy(angle);
Translation2d{chassisSpeeds.vx * 1_s, chassisSpeeds.vy * 1_s}.RotateBy(
angle);
Vectord<3> u{fieldRelativeSpeeds.X().value(),
fieldRelativeSpeeds.Y().value(), omega.value()};