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[wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)

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The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.

This is a breaking change but is worthwhile to avoid hard-to-debug errors.
This commit is contained in:
Tyler Veness
2021-01-16 20:26:17 -08:00
committed by GitHub
parent d6ed20c1e4
commit f393989a5b
25 changed files with 227 additions and 118 deletions
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8
wpimath/src/main/native/cpp/estimator/MecanumDrivePoseEstimator.cpp
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@@ -14,9 +14,9 @@ using namespace frc;
frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
const Rotation2d& gyroAngle, const Pose2d& initialPose,
MecanumDriveKinematics kinematics,
const std::array<double, 3>& stateStdDevs,
const std::array<double, 1>& localMeasurementStdDevs,
const std::array<double, 3>& visionMeasurementStdDevs,
const wpi::array<double, 3>& stateStdDevs,
const wpi::array<double, 1>& localMeasurementStdDevs,
const wpi::array<double, 3>& visionMeasurementStdDevs,
units::second_t nominalDt)
: m_observer([](const Eigen::Matrix<double, 3, 1>& x,
const Eigen::Matrix<double, 3, 1>& u) { return u; },
@@ -51,7 +51,7 @@ frc::MecanumDrivePoseEstimator::MecanumDrivePoseEstimator(
}
void frc::MecanumDrivePoseEstimator::SetVisionMeasurementStdDevs(
const std::array<double, 3>& visionMeasurmentStdDevs) {
const wpi::array<double, 3>& visionMeasurmentStdDevs) {
// Create R (covariances) for vision measurements.
Eigen::Matrix<double, 3, 3> visionContR =
frc::MakeCovMatrix(visionMeasurmentStdDevs);