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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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26
wpimath/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
View File

@@ -93,31 +93,29 @@ class CubicHermiteSplineTest : public ::testing::Test {
} // namespace frc
TEST_F(CubicHermiteSplineTest, StraightLine) {
Run(Pose2d(), std::vector<Translation2d>(), Pose2d(3_m, 0_m, Rotation2d()));
Run(Pose2d{}, std::vector<Translation2d>(), Pose2d{3_m, 0_m, 0_deg});
}
TEST_F(CubicHermiteSplineTest, SCurve) {
Pose2d start{0_m, 0_m, Rotation2d(90_deg)};
std::vector<Translation2d> waypoints{Translation2d(1_m, 1_m),
Translation2d(2_m, -1_m)};
Pose2d end{3_m, 0_m, Rotation2d{90_deg}};
Pose2d start{0_m, 0_m, 90_deg};
std::vector<Translation2d> waypoints{Translation2d{1_m, 1_m},
Translation2d{2_m, -1_m}};
Pose2d end{3_m, 0_m, 90_deg};
Run(start, waypoints, end);
}
TEST_F(CubicHermiteSplineTest, OneInterior) {
Pose2d start{0_m, 0_m, 0_rad};
std::vector<Translation2d> waypoints{Translation2d(2_m, 0_m)};
std::vector<Translation2d> waypoints{Translation2d{2_m, 0_m}};
Pose2d end{4_m, 0_m, 0_rad};
Run(start, waypoints, end);
}
TEST_F(CubicHermiteSplineTest, ThrowsOnMalformed) {
EXPECT_THROW(
Run(Pose2d{0_m, 0_m, Rotation2d(0_deg)}, std::vector<Translation2d>{},
Pose2d{1_m, 0_m, Rotation2d(180_deg)}),
SplineParameterizer::MalformedSplineException);
EXPECT_THROW(
Run(Pose2d{10_m, 10_m, Rotation2d(90_deg)}, std::vector<Translation2d>{},
Pose2d{10_m, 11_m, Rotation2d(-90_deg)}),
SplineParameterizer::MalformedSplineException);
EXPECT_THROW(Run(Pose2d{0_m, 0_m, 0_deg}, std::vector<Translation2d>{},
Pose2d{1_m, 0_m, 180_deg}),
SplineParameterizer::MalformedSplineException);
EXPECT_THROW(Run(Pose2d{10_m, 10_m, 90_deg}, std::vector<Translation2d>{},
Pose2d{10_m, 11_m, -90_deg}),
SplineParameterizer::MalformedSplineException);
}

13
wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
View File

@@ -65,23 +65,20 @@ class QuinticHermiteSplineTest : public ::testing::Test {
} // namespace frc
TEST_F(QuinticHermiteSplineTest, StraightLine) {
Run(Pose2d(), Pose2d(3_m, 0_m, Rotation2d()));
Run(Pose2d{}, Pose2d{3_m, 0_m, 0_deg});
}
TEST_F(QuinticHermiteSplineTest, SimpleSCurve) {
Run(Pose2d(), Pose2d(1_m, 1_m, Rotation2d()));
Run(Pose2d{}, Pose2d{1_m, 1_m, 0_deg});
}
TEST_F(QuinticHermiteSplineTest, SquigglyCurve) {
Run(Pose2d(0_m, 0_m, Rotation2d(90_deg)),
Pose2d(-1_m, 0_m, Rotation2d(90_deg)));
Run(Pose2d{0_m, 0_m, 90_deg}, Pose2d{-1_m, 0_m, 90_deg});
}
TEST_F(QuinticHermiteSplineTest, ThrowsOnMalformed) {
EXPECT_THROW(Run(Pose2d(0_m, 0_m, Rotation2d(0_deg)),
Pose2d(1_m, 0_m, Rotation2d(180_deg))),
EXPECT_THROW(Run(Pose2d{0_m, 0_m, 0_deg}, Pose2d{1_m, 0_m, 180_deg}),
SplineParameterizer::MalformedSplineException);
EXPECT_THROW(Run(Pose2d(10_m, 10_m, Rotation2d(90_deg)),
Pose2d(10_m, 11_m, Rotation2d(-90_deg))),
EXPECT_THROW(Run(Pose2d{10_m, 10_m, 90_deg}, Pose2d{10_m, 11_m, -90_deg}),
SplineParameterizer::MalformedSplineException);
}