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Use stricter C++ type conversions (#4357)

Browse Source 
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/test/native/cpp/kinematics/ChassisSpeedsTest.cpp
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@@ -9,7 +9,7 @@ static constexpr double kEpsilon = 1E-9;
TEST(ChassisSpeedsTest, FieldRelativeConstruction) {
const auto chassisSpeeds = frc::ChassisSpeeds::FromFieldRelativeSpeeds(
1.0_mps, 0.0_mps, 0.5_rad_per_s, frc::Rotation2d(-90.0_deg));
1.0_mps, 0.0_mps, 0.5_rad_per_s, -90.0_deg);
EXPECT_NEAR(0.0, chassisSpeeds.vx.value(), kEpsilon);
EXPECT_NEAR(1.0, chassisSpeeds.vy.value(), kEpsilon);

4
wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
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@@ -66,8 +66,8 @@ TEST(DifferentialDriveKinematicsTest, InverseKinematicsForRotateInPlace) {
TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForRotateInPlace) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const DifferentialDriveWheelSpeeds wheelSpeeds{
units::meters_per_second_t(+0.381 * wpi::numbers::pi),
units::meters_per_second_t(-0.381 * wpi::numbers::pi)};
units::meters_per_second_t{+0.381 * wpi::numbers::pi},
units::meters_per_second_t{-0.381 * wpi::numbers::pi}};
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.value(), 0, kEpsilon);

6
wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.cpp
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@@ -13,10 +13,10 @@ static constexpr double kEpsilon = 1E-9;
using namespace frc;
TEST(DifferentialDriveOdometryTest, EncoderDistances) {
DifferentialDriveOdometry odometry{Rotation2d(45_deg)};
DifferentialDriveOdometry odometry{45_deg};
const auto& pose = odometry.Update(Rotation2d(135_deg), 0_m,
units::meter_t(5 * wpi::numbers::pi));
const auto& pose =
odometry.Update(135_deg, 0_m, units::meter_t{5 * wpi::numbers::pi});
EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);

2
wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
View File

@@ -61,7 +61,7 @@ TEST_F(MecanumDriveKinematicsTest, StrafeForwardKinematics) {
TEST_F(MecanumDriveKinematicsTest, RotationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::numbers::pi)};
units::radians_per_second_t{2 * wpi::numbers::pi}};
auto moduleStates = kinematics.ToWheelSpeeds(speeds);
EXPECT_NEAR(-150.79644737, moduleStates.frontLeft.value(), 0.1);

24
wpimath/src/test/native/cpp/kinematics/MecanumDriveOdometryTest.cpp
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@@ -19,12 +19,12 @@ class MecanumDriveOdometryTest : public ::testing::Test {
};
TEST_F(MecanumDriveOdometryTest, MultipleConsecutiveUpdates) {
odometry.ResetPosition(Pose2d(), 0_rad);
odometry.ResetPosition(Pose2d{}, 0_rad);
MecanumDriveWheelSpeeds wheelSpeeds{3.536_mps, 3.536_mps, 3.536_mps,
3.536_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), wheelSpeeds);
auto secondPose = odometry.UpdateWithTime(0.0_s, Rotation2d(), wheelSpeeds);
odometry.UpdateWithTime(0_s, 0_deg, wheelSpeeds);
auto secondPose = odometry.UpdateWithTime(0.0_s, 0_deg, wheelSpeeds);
EXPECT_NEAR(secondPose.X().value(), 0.0, 0.01);
EXPECT_NEAR(secondPose.Y().value(), 0.0, 0.01);
@@ -32,11 +32,11 @@ TEST_F(MecanumDriveOdometryTest, MultipleConsecutiveUpdates) {
}
TEST_F(MecanumDriveOdometryTest, TwoIterations) {
odometry.ResetPosition(Pose2d(), 0_rad);
odometry.ResetPosition(Pose2d{}, 0_rad);
MecanumDriveWheelSpeeds speeds{3.536_mps, 3.536_mps, 3.536_mps, 3.536_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(0.10_s, Rotation2d(), speeds);
odometry.UpdateWithTime(0_s, 0_deg, MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(0.10_s, 0_deg, speeds);
EXPECT_NEAR(pose.X().value(), 0.3536, 0.01);
EXPECT_NEAR(pose.Y().value(), 0.0, 0.01);
@@ -44,11 +44,11 @@ TEST_F(MecanumDriveOdometryTest, TwoIterations) {
}
TEST_F(MecanumDriveOdometryTest, 90DegreeTurn) {
odometry.ResetPosition(Pose2d(), 0_rad);
odometry.ResetPosition(Pose2d{}, 0_rad);
MecanumDriveWheelSpeeds speeds{-13.328_mps, 39.986_mps, -13.329_mps,
39.986_mps};
odometry.UpdateWithTime(0_s, Rotation2d(), MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(1_s, Rotation2d(90_deg), speeds);
odometry.UpdateWithTime(0_s, 0_deg, MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(1_s, 90_deg, speeds);
EXPECT_NEAR(pose.X().value(), 8.4855, 0.01);
EXPECT_NEAR(pose.Y().value(), 8.4855, 0.01);
@@ -56,12 +56,12 @@ TEST_F(MecanumDriveOdometryTest, 90DegreeTurn) {
}
TEST_F(MecanumDriveOdometryTest, GyroAngleReset) {
odometry.ResetPosition(Pose2d(), Rotation2d(90_deg));
odometry.ResetPosition(Pose2d{}, 90_deg);
MecanumDriveWheelSpeeds speeds{3.536_mps, 3.536_mps, 3.536_mps, 3.536_mps};
odometry.UpdateWithTime(0_s, Rotation2d(90_deg), MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(0.10_s, Rotation2d(90_deg), speeds);
odometry.UpdateWithTime(0_s, 90_deg, MecanumDriveWheelSpeeds{});
auto pose = odometry.UpdateWithTime(0.10_s, 90_deg, speeds);
EXPECT_NEAR(pose.X().value(), 0.3536, 0.01);
EXPECT_NEAR(pose.Y().value(), 0.0, 0.01);

44
wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
View File

@@ -40,7 +40,7 @@ TEST_F(SwerveDriveKinematicsTest, StraightLineInverseKinematics) {
}
TEST_F(SwerveDriveKinematicsTest, StraightLineForwardKinematics) {
SwerveModuleState state{5.0_mps, Rotation2d()};
SwerveModuleState state{5.0_mps, 0_deg};
auto chassisSpeeds = m_kinematics.ToChassisSpeeds(state, state, state, state);
@@ -65,7 +65,7 @@ TEST_F(SwerveDriveKinematicsTest, StraightStrafeInverseKinematics) {
}
TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematics) {
SwerveModuleState state{5_mps, Rotation2d(90_deg)};
SwerveModuleState state{5_mps, 90_deg};
auto chassisSpeeds = m_kinematics.ToChassisSpeeds(state, state, state, state);
EXPECT_NEAR(chassisSpeeds.vx.value(), 0.0, kEpsilon);
@@ -75,7 +75,7 @@ TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematics) {
TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::numbers::pi)};
units::radians_per_second_t{2 * wpi::numbers::pi}};
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
EXPECT_NEAR(fl.speed.value(), 106.63, kEpsilon);
@@ -91,7 +91,7 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
TEST_F(SwerveDriveKinematicsTest, ConserveWheelAngle) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::numbers::pi)};
units::radians_per_second_t{2 * wpi::numbers::pi}};
m_kinematics.ToSwerveModuleStates(speeds);
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(ChassisSpeeds{});
@@ -107,10 +107,10 @@ TEST_F(SwerveDriveKinematicsTest, ConserveWheelAngle) {
}
TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {
SwerveModuleState fl{106.629_mps, Rotation2d(135_deg)};
SwerveModuleState fr{106.629_mps, Rotation2d(45_deg)};
SwerveModuleState bl{106.629_mps, Rotation2d(-135_deg)};
SwerveModuleState br{106.629_mps, Rotation2d(-45_deg)};
SwerveModuleState fl{106.629_mps, 135_deg};
SwerveModuleState fr{106.629_mps, 45_deg};
SwerveModuleState bl{106.629_mps, -135_deg};
SwerveModuleState br{106.629_mps, -45_deg};
auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
@@ -121,7 +121,7 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {
TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t(2 * wpi::numbers::pi)};
units::radians_per_second_t{2 * wpi::numbers::pi}};
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds, m_fl);
EXPECT_NEAR(fl.speed.value(), 0.0, kEpsilon);
@@ -136,10 +136,10 @@ TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
}
TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationForwardKinematics) {
SwerveModuleState fl{0.0_mps, Rotation2d(0_deg)};
SwerveModuleState fr{150.796_mps, Rotation2d(0_deg)};
SwerveModuleState bl{150.796_mps, Rotation2d(-90_deg)};
SwerveModuleState br{213.258_mps, Rotation2d(-45_deg)};
SwerveModuleState fl{0.0_mps, 0_deg};
SwerveModuleState fr{150.796_mps, 0_deg};
SwerveModuleState bl{150.796_mps, -90_deg};
SwerveModuleState br{213.258_mps, -45_deg};
auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
@@ -152,7 +152,7 @@ TEST_F(SwerveDriveKinematicsTest,
OffCenterCORRotationAndTranslationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 3.0_mps, 1.5_rad_per_s};
auto [fl, fr, bl, br] =
m_kinematics.ToSwerveModuleStates(speeds, Translation2d(24_m, 0_m));
m_kinematics.ToSwerveModuleStates(speeds, Translation2d{24_m, 0_m});
EXPECT_NEAR(fl.speed.value(), 23.43, kEpsilon);
EXPECT_NEAR(fr.speed.value(), 23.43, kEpsilon);
@@ -167,10 +167,10 @@ TEST_F(SwerveDriveKinematicsTest,
TEST_F(SwerveDriveKinematicsTest,
OffCenterCORRotationAndTranslationForwardKinematics) {
SwerveModuleState fl{23.43_mps, Rotation2d(-140.19_deg)};
SwerveModuleState fr{23.43_mps, Rotation2d(-39.81_deg)};
SwerveModuleState bl{54.08_mps, Rotation2d(-109.44_deg)};
SwerveModuleState br{54.08_mps, Rotation2d(-70.56_deg)};
SwerveModuleState fl{23.43_mps, -140.19_deg};
SwerveModuleState fr{23.43_mps, -39.81_deg};
SwerveModuleState bl{54.08_mps, -109.44_deg};
SwerveModuleState br{54.08_mps, -70.56_deg};
auto chassisSpeeds = m_kinematics.ToChassisSpeeds(fl, fr, bl, br);
@@ -180,10 +180,10 @@ TEST_F(SwerveDriveKinematicsTest,
}
TEST_F(SwerveDriveKinematicsTest, Desaturate) {
SwerveModuleState state1{5.0_mps, Rotation2d()};
SwerveModuleState state2{6.0_mps, Rotation2d()};
SwerveModuleState state3{4.0_mps, Rotation2d()};
SwerveModuleState state4{7.0_mps, Rotation2d()};
SwerveModuleState state1{5.0_mps, 0_deg};
SwerveModuleState state2{6.0_mps, 0_deg};
SwerveModuleState state3{4.0_mps, 0_deg};
SwerveModuleState state4{7.0_mps, 0_deg};
wpi::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
SwerveDriveKinematics<4>::DesaturateWheelSpeeds(&arr, 5.5_mps);

45
wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
View File

@@ -22,14 +22,14 @@ class SwerveDriveOdometryTest : public ::testing::Test {
};
TEST_F(SwerveDriveOdometryTest, TwoIterations) {
SwerveModuleState state{5_mps, Rotation2d()};
SwerveModuleState state{5_mps, 0_deg};
m_odometry.ResetPosition(Pose2d(), 0_rad);
m_odometry.UpdateWithTime(0_s, Rotation2d(), SwerveModuleState(),
SwerveModuleState(), SwerveModuleState(),
SwerveModuleState());
auto pose = m_odometry.UpdateWithTime(0.1_s, Rotation2d(), state, state,
state, state);
m_odometry.ResetPosition(Pose2d{}, 0_rad);
m_odometry.UpdateWithTime(0_s, 0_deg, SwerveModuleState{},
SwerveModuleState{}, SwerveModuleState{},
SwerveModuleState{});
auto pose =
m_odometry.UpdateWithTime(0.1_s, 0_deg, state, state, state, state);
EXPECT_NEAR(0.5, pose.X().value(), kEpsilon);
EXPECT_NEAR(0.0, pose.Y().value(), kEpsilon);
@@ -37,17 +37,16 @@ TEST_F(SwerveDriveOdometryTest, TwoIterations) {
}
TEST_F(SwerveDriveOdometryTest, 90DegreeTurn) {
SwerveModuleState fl{18.85_mps, Rotation2d(90_deg)};
SwerveModuleState fr{42.15_mps, Rotation2d(26.565_deg)};
SwerveModuleState bl{18.85_mps, Rotation2d(-90_deg)};
SwerveModuleState br{42.15_mps, Rotation2d(-26.565_deg)};
SwerveModuleState fl{18.85_mps, 90_deg};
SwerveModuleState fr{42.15_mps, 26.565_deg};
SwerveModuleState bl{18.85_mps, -90_deg};
SwerveModuleState br{42.15_mps, -26.565_deg};
SwerveModuleState zero{0_mps, Rotation2d()};
SwerveModuleState zero{0_mps, 0_deg};
m_odometry.ResetPosition(Pose2d(), 0_rad);
m_odometry.UpdateWithTime(0_s, Rotation2d(), zero, zero, zero, zero);
auto pose =
m_odometry.UpdateWithTime(1_s, Rotation2d(90_deg), fl, fr, bl, br);
m_odometry.ResetPosition(Pose2d{}, 0_rad);
m_odometry.UpdateWithTime(0_s, 0_deg, zero, zero, zero, zero);
auto pose = m_odometry.UpdateWithTime(1_s, 90_deg, fl, fr, bl, br);
EXPECT_NEAR(12.0, pose.X().value(), kEpsilon);
EXPECT_NEAR(12.0, pose.Y().value(), kEpsilon);
@@ -55,15 +54,15 @@ TEST_F(SwerveDriveOdometryTest, 90DegreeTurn) {
}
TEST_F(SwerveDriveOdometryTest, GyroAngleReset) {
m_odometry.ResetPosition(Pose2d(), Rotation2d(90_deg));
m_odometry.ResetPosition(Pose2d{}, 90_deg);
SwerveModuleState state{5_mps, Rotation2d()};
SwerveModuleState state{5_mps, 0_deg};
m_odometry.UpdateWithTime(0_s, Rotation2d(90_deg), SwerveModuleState(),
SwerveModuleState(), SwerveModuleState(),
SwerveModuleState());
auto pose = m_odometry.UpdateWithTime(0.1_s, Rotation2d(90_deg), state, state,
state, state);
m_odometry.UpdateWithTime(0_s, 90_deg, SwerveModuleState{},
SwerveModuleState{}, SwerveModuleState{},
SwerveModuleState{});
auto pose =
m_odometry.UpdateWithTime(0.1_s, 90_deg, state, state, state, state);
EXPECT_NEAR(0.5, pose.X().value(), kEpsilon);
EXPECT_NEAR(0.0, pose.Y().value(), kEpsilon);