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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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2
wpimath/src/main/native/include/frc/kinematics/DifferentialDriveOdometry.h
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@@ -31,7 +31,7 @@ class WPILIB_DLLEXPORT DifferentialDriveOdometry {
* @param initialPose The starting position of the robot on the field.
*/
explicit DifferentialDriveOdometry(const Rotation2d& gyroAngle,
const Pose2d& initialPose = Pose2d());
const Pose2d& initialPose = Pose2d{});
/**
* Resets the robot's position on the field.

2
wpimath/src/main/native/include/frc/kinematics/MecanumDriveKinematics.h
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@@ -99,7 +99,7 @@ class WPILIB_DLLEXPORT MecanumDriveKinematics {
*/
MecanumDriveWheelSpeeds ToWheelSpeeds(
const ChassisSpeeds& chassisSpeeds,
const Translation2d& centerOfRotation = Translation2d()) const;
const Translation2d& centerOfRotation = Translation2d{}) const;
/**
* Performs forward kinematics to return the resulting chassis state from the

2
wpimath/src/main/native/include/frc/kinematics/MecanumDriveOdometry.h
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@@ -34,7 +34,7 @@ class WPILIB_DLLEXPORT MecanumDriveOdometry {
*/
explicit MecanumDriveOdometry(MecanumDriveKinematics kinematics,
const Rotation2d& gyroAngle,
const Pose2d& initialPose = Pose2d());
const Pose2d& initialPose = Pose2d{});
/**
* Resets the robot's position on the field.

2
wpimath/src/main/native/include/frc/kinematics/SwerveDriveKinematics.h
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@@ -129,7 +129,7 @@ class SwerveDriveKinematics {
*/
wpi::array<SwerveModuleState, NumModules> ToSwerveModuleStates(
const ChassisSpeeds& chassisSpeeds,
const Translation2d& centerOfRotation = Translation2d()) const;
const Translation2d& centerOfRotation = Translation2d{}) const;
/**
* Performs forward kinematics to return the resulting chassis state from the

2
wpimath/src/main/native/include/frc/kinematics/SwerveDriveOdometry.h
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@@ -39,7 +39,7 @@ class SwerveDriveOdometry {
*/
SwerveDriveOdometry(SwerveDriveKinematics<NumModules> kinematics,
const Rotation2d& gyroAngle,
const Pose2d& initialPose = Pose2d());
const Pose2d& initialPose = Pose2d{});
/**
* Resets the robot's position on the field.