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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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12
wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
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@@ -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);