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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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45
wpimath/src/test/native/cpp/kinematics/SwerveDriveOdometryTest.cpp
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@@ -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);