[wpiutil] Split units.h into separate headers for each unit (#2551)

Closes #2508. Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com>
2026-06-21 01:01:43 +00:00 · 2020-06-29 22:25:09 -07:00
parent c6e6346642
commit d30d1088da
169 changed files with 6851 additions and 5061 deletions
--- a/wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp
+++ b/wpilibc/src/test/native/cpp/LinearFilterNoiseTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2015-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -11,7 +11,7 @@
 #include <memory>
 #include <random>

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/math>

 #include "gtest/gtest.h"
--- a/wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp
+++ b/wpilibc/src/test/native/cpp/LinearFilterOutputTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2015-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2015-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -12,7 +12,7 @@
 #include <memory>
 #include <random>

-#include <units/units.h>
+#include <units/time.h>
 #include <wpi/math>

 #include "gtest/gtest.h"
--- a/wpilibc/src/test/native/cpp/SlewRateLimiterTest.cpp
+++ b/wpilibc/src/test/native/cpp/SlewRateLimiterTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -7,6 +7,10 @@

 #include <thread>

+#include <units/length.h>
+#include <units/time.h>
+#include <units/velocity.h>
+
 #include "frc/SlewRateLimiter.h"
 #include "gtest/gtest.h"

--- a/wpilibc/src/test/native/cpp/controller/ControllerUtilTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/ControllerUtilTest.cpp
@@ -5,7 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angle.h>

 #include "frc/controller/ControllerUtil.h"
 #include "gtest/gtest.h"
--- a/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
+++ b/wpilibc/src/test/native/cpp/controller/RamseteControllerTest.cpp
@@ -1,10 +1,11 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

+#include <units/math.h>
 #include <wpi/math>

 #include "frc/controller/RamseteController.h"
--- a/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.cpp
@@ -1,11 +1,13 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+#include <units/velocity.h>
 #include <wpi/math>

 #include "frc/kinematics/ChassisSpeeds.h"
--- a/wpilibc/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.cpp
@@ -1,11 +1,11 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angular_velocity.h>
 #include <wpi/math>

 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
@@ -1,11 +1,11 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/

-#include <units/units.h>
+#include <units/angular_velocity.h>
 #include <wpi/math>

 #include "frc/geometry/Translation2d.h"
--- a/wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
+++ b/wpilibc/src/test/native/cpp/spline/CubicHermiteSplineTest.cpp
@@ -9,7 +9,7 @@
 #include <iostream>
 #include <vector>

-#include <units/units.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
--- a/wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
+++ b/wpilibc/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
@@ -8,7 +8,8 @@
 #include <chrono>
 #include <iostream>

-#include <units/units.h>
+#include <units/angle.h>
+#include <units/length.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/geometry/Rotation2d.h"
--- a/wpilibc/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/CentripetalAccelerationConstraintTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,7 +8,10 @@
 #include <memory>
 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/math.h>
+#include <units/velocity.h>

 #include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveKinematicsTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -8,7 +8,7 @@
 #include <memory>
 #include <vector>

-#include <units/units.h>
+#include <units/time.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/DifferentialDriveVoltageTest.cpp
@@ -9,7 +9,11 @@
 #include <memory>
 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/time.h>
+#include <units/velocity.h>
+#include <units/voltage.h>

 #include "frc/geometry/Pose2d.h"
 #include "frc/kinematics/DifferentialDriveKinematics.h"
--- a/wpilibc/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/EllipticalRegionConstraintTest.cpp
@@ -7,7 +7,10 @@

 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/angle.h>
+#include <units/length.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/EllipticalRegionConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/RectangularRegionConstraintTest.cpp
@@ -7,7 +7,10 @@

 #include <vector>

-#include <units/units.h>
+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/math.h>
+#include <units/velocity.h>

 #include "frc/kinematics/DifferentialDriveKinematics.h"
 #include "frc/trajectory/constraint/MaxVelocityConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/TrajectoryGeneratorTest.cpp
@@ -7,6 +7,8 @@

 #include <vector>

+#include <units/math.h>
+
 #include "frc/trajectory/Trajectory.h"
 #include "frc/trajectory/TrajectoryGenerator.h"
 #include "frc/trajectory/constraint/CentripetalAccelerationConstraint.h"
--- a/wpilibc/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
+++ b/wpilibc/src/test/native/cpp/trajectory/TrapezoidProfileTest.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -10,6 +10,11 @@
 #include <chrono>
 #include <cmath>

+#include <units/acceleration.h>
+#include <units/length.h>
+#include <units/math.h>
+#include <units/velocity.h>
+
 #include "gtest/gtest.h"

 static constexpr auto kDt = 10_ms;