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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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8
wpimath/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
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@@ -72,12 +72,12 @@ TEST(DifferentialDriveVoltageConstraintTest, HighCurvature) {
DifferentialDriveVoltageConstraint(feedforward, kinematics, maxVoltage));
EXPECT_NO_FATAL_FAILURE(TrajectoryGenerator::GenerateTrajectory(
Pose2d{1_m, 0_m, Rotation2d{90_deg}}, std::vector<Translation2d>{},
Pose2d{0_m, 1_m, Rotation2d{180_deg}}, config));
Pose2d{1_m, 0_m, 90_deg}, std::vector<Translation2d>{},
Pose2d{0_m, 1_m, 180_deg}, config));
config.SetReversed(true);
EXPECT_NO_FATAL_FAILURE(TrajectoryGenerator::GenerateTrajectory(
Pose2d{0_m, 1_m, Rotation2d{180_deg}}, std::vector<Translation2d>{},
Pose2d{1_m, 0_m, Rotation2d{90_deg}}, config));
Pose2d{0_m, 1_m, 180_deg}, std::vector<Translation2d>{},
Pose2d{1_m, 0_m, 90_deg}, config));
}

15
wpimath/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
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@@ -21,9 +21,8 @@ TEST(EllipticalRegionConstraintTest, Constraint) {
auto config = TrajectoryConfig(13_fps, 13_fps_sq);
MaxVelocityConstraint maxVelConstraint(maxVelocity);
EllipticalRegionConstraint regionConstraint(frc::Translation2d{5_ft, 2.5_ft},
10_ft, 5_ft, Rotation2d(180_deg),
maxVelConstraint);
EllipticalRegionConstraint regionConstraint(
frc::Translation2d{5_ft, 2.5_ft}, 10_ft, 5_ft, 180_deg, maxVelConstraint);
config.AddConstraint(regionConstraint);
auto trajectory = TestTrajectory::GetTrajectory(config);
@@ -45,14 +44,12 @@ TEST(EllipticalRegionConstraintTest, IsPoseInRegion) {
constexpr auto maxVelocity = 2_fps;
MaxVelocityConstraint maxVelConstraint(maxVelocity);
EllipticalRegionConstraint regionConstraintNoRotation(
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, Rotation2d(0_deg),
maxVelConstraint);
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, 0_deg, maxVelConstraint);
EXPECT_FALSE(regionConstraintNoRotation.IsPoseInRegion(
frc::Pose2d(2.1_ft, 1_ft, 0_rad)));
frc::Pose2d{2.1_ft, 1_ft, 0_rad}));
EllipticalRegionConstraint regionConstraintWithRotation(
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, Rotation2d(90_deg),
maxVelConstraint);
frc::Translation2d{1_ft, 1_ft}, 2_ft, 4_ft, 90_deg, maxVelConstraint);
EXPECT_TRUE(regionConstraintWithRotation.IsPoseInRegion(
frc::Pose2d(2.1_ft, 1_ft, 0_rad)));
frc::Pose2d{2.1_ft, 1_ft, 0_rad}));
}

5
wpimath/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
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@@ -47,7 +47,6 @@ TEST(RectangularRegionConstraintTest, IsPoseInRegion) {
frc::Translation2d{5_ft, 27_ft},
maxVelConstraint);
EXPECT_FALSE(regionConstraint.IsPoseInRegion(Pose2d()));
EXPECT_TRUE(
regionConstraint.IsPoseInRegion(Pose2d(3_ft, 14.5_ft, Rotation2d())));
EXPECT_FALSE(regionConstraint.IsPoseInRegion(Pose2d{}));
EXPECT_TRUE(regionConstraint.IsPoseInRegion(Pose2d{3_ft, 14.5_ft, 0_deg}));
}

3
wpimath/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
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@@ -34,8 +34,7 @@ TEST(TrajectoryGenerationTest, ObeysConstraints) {
TEST(TrajectoryGenertionTest, ReturnsEmptyOnMalformed) {
const auto t = TrajectoryGenerator::GenerateTrajectory(
std::vector<Pose2d>{Pose2d(0_m, 0_m, Rotation2d(0_deg)),
Pose2d(1_m, 0_m, Rotation2d(180_deg))},
std::vector<Pose2d>{Pose2d{0_m, 0_m, 0_deg}, Pose2d{1_m, 0_m, 180_deg}},
TrajectoryConfig(12_fps, 12_fps_sq));
ASSERT_EQ(t.States().size(), 1u);

12
wpimath/src/test/native/cpp/trajectory/TrajectoryTransformTest.cpp
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@@ -31,11 +31,9 @@ void TestSameShapedTrajectory(std::vector<frc::Trajectory::State> statesA,
TEST(TrajectoryTransformsTest, TransformBy) {
frc::TrajectoryConfig config{3_mps, 3_mps_sq};
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
frc::Pose2d{}, {}, frc::Pose2d{1_m, 1_m, frc::Rotation2d(90_deg)},
config);
frc::Pose2d{}, {}, frc::Pose2d{1_m, 1_m, 90_deg}, config);
auto transformedTrajectory =
trajectory.TransformBy({{1_m, 2_m}, frc::Rotation2d(30_deg)});
auto transformedTrajectory = trajectory.TransformBy({{1_m, 2_m}, 30_deg});
auto firstPose = transformedTrajectory.Sample(0_s).pose;
@@ -49,11 +47,9 @@ TEST(TrajectoryTransformsTest, TransformBy) {
TEST(TrajectoryTransformsTest, RelativeTo) {
frc::TrajectoryConfig config{3_mps, 3_mps_sq};
auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
frc::Pose2d{1_m, 2_m, frc::Rotation2d(30_deg)}, {},
frc::Pose2d{5_m, 7_m, frc::Rotation2d(90_deg)}, config);
frc::Pose2d{1_m, 2_m, 30_deg}, {}, frc::Pose2d{5_m, 7_m, 90_deg}, config);
auto transformedTrajectory =
trajectory.RelativeTo({1_m, 2_m, frc::Rotation2d(30_deg)});
auto transformedTrajectory = trajectory.RelativeTo({1_m, 2_m, 30_deg});
auto firstPose = transformedTrajectory.Sample(0_s).pose;