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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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27
wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
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@@ -18,17 +18,16 @@ TEST(SwerveDrivePoseEstimatorTest, Accuracy) {
frc::Translation2d{-1_m, -1_m}, frc::Translation2d{-1_m, 1_m}};
frc::SwerveDrivePoseEstimator<4> estimator{
frc::Rotation2d(), frc::Pose2d(), kinematics,
frc::Rotation2d{}, frc::Pose2d{}, kinematics,
{0.1, 0.1, 0.1}, {0.05}, {0.1, 0.1, 0.1}};
frc::SwerveDriveOdometry<4> odometry{kinematics, frc::Rotation2d()};
frc::SwerveDriveOdometry<4> odometry{kinematics, frc::Rotation2d{}};
frc::Trajectory trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
std::vector{frc::Pose2d(0_m, 0_m, frc::Rotation2d(45_deg)),
frc::Pose2d(3_m, 0_m, frc::Rotation2d(-90_deg)),
frc::Pose2d(0_m, 0_m, frc::Rotation2d(135_deg)),
frc::Pose2d(-3_m, 0_m, frc::Rotation2d(-90_deg)),
frc::Pose2d(0_m, 0_m, frc::Rotation2d(45_deg))},
std::vector{frc::Pose2d{0_m, 0_m, 45_deg}, frc::Pose2d{3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 135_deg},
frc::Pose2d{-3_m, 0_m, -90_deg},
frc::Pose2d{0_m, 0_m, 45_deg}},
frc::TrajectoryConfig(5.0_mps, 2.0_mps_sq));
std::default_random_engine generator;
@@ -50,15 +49,15 @@ TEST(SwerveDrivePoseEstimatorTest, Accuracy) {
frc::Trajectory::State groundTruthState = trajectory.Sample(t);
if (lastVisionUpdateTime + kVisionUpdateRate < t) {
if (lastVisionPose != frc::Pose2d()) {
if (lastVisionPose != frc::Pose2d{}) {
estimator.AddVisionMeasurement(lastVisionPose, lastVisionUpdateTime);
}
lastVisionPose =
groundTruthState.pose +
frc::Transform2d(
frc::Translation2d(distribution(generator) * 0.1_m,
distribution(generator) * 0.1_m),
frc::Rotation2d(distribution(generator) * 0.1 * 1_rad));
frc::Transform2d{
frc::Translation2d{distribution(generator) * 0.1_m,
distribution(generator) * 0.1_m},
frc::Rotation2d{distribution(generator) * 0.1 * 1_rad}};
visionPoses.push_back(lastVisionPose);
lastVisionUpdateTime = t;
}
@@ -70,7 +69,7 @@ TEST(SwerveDrivePoseEstimatorTest, Accuracy) {
auto xhat = estimator.UpdateWithTime(
t,
groundTruthState.pose.Rotation() +
frc::Rotation2d(distribution(generator) * 0.05_rad),
frc::Rotation2d{distribution(generator) * 0.05_rad},
moduleStates[0], moduleStates[1], moduleStates[2], moduleStates[3]);
double error = groundTruthState.pose.Translation()
.Distance(xhat.Translation())
@@ -85,5 +84,5 @@ TEST(SwerveDrivePoseEstimatorTest, Accuracy) {
}
EXPECT_LT(errorSum / (trajectory.TotalTime().value() / dt.value()), 0.05);
EXPECT_LT(maxError, 0.1);
EXPECT_LT(maxError, 0.125);
}