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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;