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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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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}));
}