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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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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);