Disable frivolous PMD warnings and enable PMD in ntcore (#3419)

Some valid warnings like throwing NullPointerException or using a for
loop instead of System.arraycopy() were fixed.

Abstract classes marked with PMD.AbstractClassWithoutAbstractMethod were
made concrete because they already had protected constructors.

Fixes #1697.

wpimath/src/main/java/edu/wpi/first/math/Matrix.java

@@ -23,7 +23,6 @@ import org.ejml.simple.SimpleMatrix;
  * @param <R> The number of rows in this matrix.
  * @param <C> The number of columns in this matrix.
  */
-@SuppressWarnings("PMD.ExcessivePublicCount")
 public class Matrix<R extends Num, C extends Num> {
   protected final SimpleMatrix m_storage;
 
@@ -531,7 +530,6 @@ public class Matrix<R extends Num, C extends Num> {
    * @throws RuntimeException if the matrix could not be decomposed(ie. is not positive
    *     semidefinite).
    */
-  @SuppressWarnings("PMD.AvoidThrowingRawExceptionTypes")
   public Matrix<R, C> lltDecompose(boolean lowerTriangular) {
     SimpleMatrix temp = m_storage.copy();
 

wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java

@@ -216,7 +216,6 @@ public final class SimpleMatrixUtils {
    * @throws RuntimeException if the matrix could not be decomposed (ie. is not positive
    *     semidefinite).
    */
-  @SuppressWarnings("PMD.AvoidThrowingRawExceptionTypes")
   public static SimpleMatrix lltDecompose(SimpleMatrix src, boolean lowerTriangular) {
     SimpleMatrix temp = src.copy();
 

wpimath/src/main/java/edu/wpi/first/math/VecBuilder.java

@@ -171,7 +171,6 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n9 the ninth element.
    * @param n10 the tenth element.
    */
-  @SuppressWarnings("PMD.ExcessiveParameterList")
   public static Vector<N10> fill(
       double n1,
       double n2,

wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java

@@ -101,7 +101,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
    * @param addFuncX A function that adds two state vectors.
    * @param dtSeconds Nominal discretization timestep.
    */
-  @SuppressWarnings({"ParameterName", "PMD.ExcessiveParameterList"})
+  @SuppressWarnings("ParameterName")
   public ExtendedKalmanFilter(
       Nat<States> states,
       Nat<Inputs> inputs,

wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java

@@ -60,7 +60,7 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
    * @param globalMeasurementCorrect The function take calls correct() on the observer.
    * @param timestampSeconds The timestamp of the measurement.
    */
-  @SuppressWarnings({"ParameterName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("ParameterName")
   public <R extends Num> void applyPastGlobalMeasurement(
       Nat<R> rows,
       KalmanTypeFilter<S, I, O> observer,

wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java

@@ -26,7 +26,7 @@ import org.ejml.simple.SimpleMatrix;
  * an estimate of the true covariance (as opposed to a linearized version of it). This means that
  * the UKF works with nonlinear systems.
  */
-@SuppressWarnings({"MemberName", "ClassTypeParameterName", "PMD.TooManyFields"})
+@SuppressWarnings({"MemberName", "ClassTypeParameterName"})
 public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
     implements KalmanTypeFilter<States, Inputs, Outputs> {
 
@@ -108,7 +108,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    * @param addFuncX A function that adds two state vectors.
    * @param nominalDtSeconds Nominal discretization timestep.
    */
-  @SuppressWarnings({"ParameterName", "PMD.ExcessiveParameterList"})
+  @SuppressWarnings("ParameterName")
   public UnscentedKalmanFilter(
       Nat<States> states,
       Nat<Outputs> outputs,
@@ -144,7 +144,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
     reset();
   }
 
-  @SuppressWarnings({"ParameterName", "LocalVariableName", "PMD.CyclomaticComplexity"})
+  @SuppressWarnings({"ParameterName", "LocalVariableName"})
   static <S extends Num, C extends Num> Pair<Matrix<C, N1>, Matrix<C, C>> unscentedTransform(
       Nat<S> s,
       Nat<C> dim,

wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java

@@ -83,7 +83,7 @@ public class SwerveDriveKinematics {
    *     attainable max velocity. Use the {@link #normalizeWheelSpeeds(SwerveModuleState[], double)
    *     normalizeWheelSpeeds} function to rectify this issue.
    */
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("LocalVariableName")
   public SwerveModuleState[] toSwerveModuleStates(
       ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
     if (!centerOfRotationMeters.equals(m_prevCoR)) {

wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java

@@ -48,7 +48,6 @@ public final class SplineHelper {
    * @param waypoints The waypoints
    * @return List of splines.
    */
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public static QuinticHermiteSpline[] getQuinticSplinesFromWaypoints(List<Pose2d> waypoints) {
     QuinticHermiteSpline[] splines = new QuinticHermiteSpline[waypoints.size() - 1];
     for (int i = 0; i < waypoints.size() - 1; ++i) {
@@ -79,11 +78,7 @@ public final class SplineHelper {
    * @return A vector of cubic hermite splines that interpolate through the provided waypoints and
    *     control vectors.
    */
-  @SuppressWarnings({
-    "LocalVariableName",
-    "PMD.ExcessiveMethodLength",
-    "PMD.AvoidInstantiatingObjectsInLoops"
-  })
+  @SuppressWarnings("LocalVariableName")
   public static CubicHermiteSpline[] getCubicSplinesFromControlVectors(
       Spline.ControlVector start, Translation2d[] waypoints, Spline.ControlVector end) {
 
@@ -208,7 +203,7 @@ public final class SplineHelper {
    * @param controlVectors The control vectors.
    * @return A vector of quintic hermite splines that interpolate through the provided waypoints.
    */
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("LocalVariableName")
   public static QuinticHermiteSpline[] getQuinticSplinesFromControlVectors(
       Spline.ControlVector[] controlVectors) {
     QuinticHermiteSpline[] splines = new QuinticHermiteSpline[controlVectors.length - 1];

wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java

@@ -96,7 +96,6 @@ public final class SplineParameterizer {
    * @throws MalformedSplineException When the spline is malformed (e.g. has close adjacent points
    *     with approximately opposing headings)
    */
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public static List<PoseWithCurvature> parameterize(Spline spline, double t0, double t1) {
     var splinePoints = new ArrayList<PoseWithCurvature>();
 

wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java

@@ -152,7 +152,6 @@ public class Trajectory {
    * @param transform The transform to transform the trajectory by.
    * @return The transformed trajectory.
    */
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public Trajectory transformBy(Transform2d transform) {
     var firstState = m_states.get(0);
     var firstPose = firstState.poseMeters;
@@ -214,7 +213,6 @@ public class Trajectory {
    * @param other The trajectory to concatenate.
    * @return The concatenated trajectory.
    */
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public Trajectory concatenate(Trajectory other) {
     // If this is a default constructed trajectory with no states, then we can
     // simply return the rhs trajectory.

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java

@@ -138,7 +138,6 @@ public final class TrajectoryGenerator {
    * @param config The configuration for the trajectory.
    * @return The generated trajectory.
    */
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public static Trajectory generateTrajectory(
       ControlVectorList controlVectors, TrajectoryConfig config) {
     final var flip = new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180.0));

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java

@@ -54,12 +54,6 @@ public final class TrajectoryParameterizer {
    *     from a -> b -> ... -> z as defined in the waypoints.
    * @return The trajectory.
    */
-  @SuppressWarnings({
-    "PMD.ExcessiveMethodLength",
-    "PMD.CyclomaticComplexity",
-    "PMD.NPathComplexity",
-    "PMD.AvoidInstantiatingObjectsInLoops"
-  })
   public static Trajectory timeParameterizeTrajectory(
       List<PoseWithCurvature> points,
       List<TrajectoryConstraint> constraints,

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java

@@ -23,7 +23,6 @@ public final class TrajectoryUtil {
    * @param elements A double[] containing the raw elements of the trajectory.
    * @return A trajectory created from the elements.
    */
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   private static Trajectory createTrajectoryFromElements(double[] elements) {
     // Make sure that the elements have the correct length.
     if (elements.length % 7 != 0) {