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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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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);