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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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44
wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
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@@ -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);