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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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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);