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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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9
wpimath/src/test/native/include/trajectory/TestTrajectory.h
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@@ -17,16 +17,15 @@ class TestTrajectory {
public:
static Trajectory GetTrajectory(TrajectoryConfig& config) {
// 2018 cross scale auto waypoints
const Pose2d sideStart{1.54_ft, 23.23_ft, Rotation2d(180_deg)};
const Pose2d crossScale{23.7_ft, 6.8_ft, Rotation2d(-160_deg)};
const Pose2d sideStart{1.54_ft, 23.23_ft, 180_deg};
const Pose2d crossScale{23.7_ft, 6.8_ft, -160_deg};
config.SetReversed(true);
auto vector = std::vector<Translation2d>{
(sideStart + Transform2d{Translation2d(-13_ft, 0_ft), Rotation2d()})
(sideStart + Transform2d{Translation2d{-13_ft, 0_ft}, 0_deg})
.Translation(),
(sideStart +
Transform2d{Translation2d(-19.5_ft, 5.0_ft), Rotation2d(-90_deg)})
(sideStart + Transform2d{Translation2d{-19.5_ft, 5.0_ft}, -90_deg})
.Translation()};
return TrajectoryGenerator::GenerateTrajectory(sideStart, vector,