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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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20
wpimath/src/test/native/cpp/geometry/Pose2dTest.cpp
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@@ -10,8 +10,8 @@
using namespace frc;
TEST(Pose2dTest, TransformBy) {
const Pose2d initial{1_m, 2_m, Rotation2d{45_deg}};
const Transform2d transform{Translation2d{5_m, 0_m}, Rotation2d{5_deg}};
const Pose2d initial{1_m, 2_m, 45_deg};
const Transform2d transform{Translation2d{5_m, 0_m}, 5_deg};
const auto transformed = initial + transform;
@@ -21,8 +21,8 @@ TEST(Pose2dTest, TransformBy) {
}
TEST(Pose2dTest, RelativeTo) {
const Pose2d initial{0_m, 0_m, Rotation2d{45_deg}};
const Pose2d final{5_m, 5_m, Rotation2d{45.0_deg}};
const Pose2d initial{0_m, 0_m, 45_deg};
const Pose2d final{5_m, 5_m, 45.0_deg};
const auto finalRelativeToInitial = final.RelativeTo(initial);
@@ -32,20 +32,20 @@ TEST(Pose2dTest, RelativeTo) {
}
TEST(Pose2dTest, Equality) {
const Pose2d a{0_m, 5_m, Rotation2d{43_deg}};
const Pose2d b{0_m, 5_m, Rotation2d{43_deg}};
const Pose2d a{0_m, 5_m, 43_deg};
const Pose2d b{0_m, 5_m, 43_deg};
EXPECT_TRUE(a == b);
}
TEST(Pose2dTest, Inequality) {
const Pose2d a{0_m, 5_m, Rotation2d{43_deg}};
const Pose2d b{0_m, 5_ft, Rotation2d{43_deg}};
const Pose2d a{0_m, 5_m, 43_deg};
const Pose2d b{0_m, 5_ft, 43_deg};
EXPECT_TRUE(a != b);
}
TEST(Pose2dTest, Minus) {
const Pose2d initial{0_m, 0_m, Rotation2d{45_deg}};
const Pose2d final{5_m, 5_m, Rotation2d{45_deg}};
const Pose2d initial{0_m, 0_m, 45_deg};
const Pose2d final{5_m, 5_m, 45_deg};
const auto transform = final - initial;

2
wpimath/src/test/native/cpp/geometry/Rotation2dTest.cpp
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@@ -29,7 +29,7 @@ TEST(Rotation2dTest, DegreesToRadians) {
TEST(Rotation2dTest, RotateByFromZero) {
const Rotation2d zero;
auto rotated = zero + Rotation2d(90_deg);
auto rotated = zero + Rotation2d{90_deg};
EXPECT_DOUBLE_EQ(wpi::numbers::pi / 2.0, rotated.Radians().value());
EXPECT_DOUBLE_EQ(90.0, rotated.Degrees().value());

2
wpimath/src/test/native/cpp/geometry/Translation2dTest.cpp
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@@ -31,7 +31,7 @@ TEST(Translation2dTest, Difference) {
TEST(Translation2dTest, RotateBy) {
const Translation2d another{3_m, 0_m};
const auto rotated = another.RotateBy(Rotation2d(90_deg));
const auto rotated = another.RotateBy(90_deg);
EXPECT_NEAR(0.0, rotated.X().value(), 1e-9);
EXPECT_DOUBLE_EQ(3.0, rotated.Y().value());

4
wpimath/src/test/native/cpp/geometry/Translation3dTest.cpp
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@@ -116,12 +116,12 @@ TEST(Translation3dTest, Inequality) {
TEST(Translation3dTest, PolarConstructor) {
Eigen::Vector3d zAxis{0.0, 0.0, 1.0};
Translation3d one{std::sqrt(2) * 1_m, Rotation3d(zAxis, 45_deg)};
Translation3d one{std::sqrt(2) * 1_m, Rotation3d{zAxis, 45_deg}};
EXPECT_NEAR(one.X().value(), 1.0, kEpsilon);
EXPECT_NEAR(one.Y().value(), 1.0, kEpsilon);
EXPECT_NEAR(one.Z().value(), 0.0, kEpsilon);
Translation3d two{2_m, Rotation3d(zAxis, 60_deg)};
Translation3d two{2_m, Rotation3d{zAxis, 60_deg}};
EXPECT_NEAR(two.X().value(), 1.0, kEpsilon);
EXPECT_NEAR(two.Y().value(), std::sqrt(3.0), kEpsilon);
EXPECT_NEAR(two.Z().value(), 0.0, kEpsilon);

4
wpimath/src/test/native/cpp/geometry/Twist2dTest.cpp
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@@ -13,7 +13,7 @@ using namespace frc;
TEST(Twist2dTest, Straight) {
const Twist2d straight{5_m, 0_m, 0_rad};
const auto straightPose = Pose2d().Exp(straight);
const auto straightPose = Pose2d{}.Exp(straight);
EXPECT_DOUBLE_EQ(5.0, straightPose.X().value());
EXPECT_DOUBLE_EQ(0.0, straightPose.Y().value());
@@ -52,7 +52,7 @@ TEST(Twist2dTest, Inequality) {
}
TEST(Twist2dTest, Pose2dLog) {
const Pose2d end{5_m, 5_m, Rotation2d{90_deg}};
const Pose2d end{5_m, 5_m, 90_deg};
const Pose2d start;
const auto twist = start.Log(end);

12
wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
View File

@@ -13,7 +13,7 @@ using namespace frc;
TEST(Twist3dTest, StraightX) {
const Twist3d straight{5_m, 0_m, 0_m, 0_rad, 0_rad, 0_rad};
const auto straightPose = Pose3d().Exp(straight);
const auto straightPose = Pose3d{}.Exp(straight);
Pose3d expected{5_m, 0_m, 0_m, Rotation3d{}};
EXPECT_EQ(expected, straightPose);
@@ -21,7 +21,7 @@ TEST(Twist3dTest, StraightX) {
TEST(Twist3dTest, StraightY) {
const Twist3d straight{0_m, 5_m, 0_m, 0_rad, 0_rad, 0_rad};
const auto straightPose = Pose3d().Exp(straight);
const auto straightPose = Pose3d{}.Exp(straight);
Pose3d expected{0_m, 5_m, 0_m, Rotation3d{}};
EXPECT_EQ(expected, straightPose);
@@ -29,7 +29,7 @@ TEST(Twist3dTest, StraightY) {
TEST(Twist3dTest, StraightZ) {
const Twist3d straight{0_m, 0_m, 5_m, 0_rad, 0_rad, 0_rad};
const auto straightPose = Pose3d().Exp(straight);
const auto straightPose = Pose3d{}.Exp(straight);
Pose3d expected{0_m, 0_m, 5_m, Rotation3d{}};
EXPECT_EQ(expected, straightPose);
@@ -40,8 +40,8 @@ TEST(Twist3dTest, QuarterCircle) {
const Twist3d quarterCircle{
5_m / 2.0 * wpi::numbers::pi, 0_m, 0_m, 0_rad, 0_rad,
units::radian_t(wpi::numbers::pi / 2.0)};
const auto quarterCirclePose = Pose3d().Exp(quarterCircle);
units::radian_t{wpi::numbers::pi / 2.0}};
const auto quarterCirclePose = Pose3d{}.Exp(quarterCircle);
Pose3d expected{5_m, 5_m, 0_m, Rotation3d{zAxis, 90_deg}};
EXPECT_EQ(expected, quarterCirclePose);
@@ -49,7 +49,7 @@ TEST(Twist3dTest, QuarterCircle) {
TEST(Twist3dTest, DiagonalNoDtheta) {
const Twist3d diagonal{2_m, 2_m, 0_m, 0_rad, 0_rad, 0_rad};
const auto diagonalPose = Pose3d().Exp(diagonal);
const auto diagonalPose = Pose3d{}.Exp(diagonal);
Pose3d expected{2_m, 2_m, 0_m, Rotation3d{}};
EXPECT_EQ(expected, diagonalPose);