Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

8
wpimath/src/main/native/cpp/spline/CubicHermiteSpline.cpp
View File

@@ -7,10 +7,10 @@
using namespace frc;
CubicHermiteSpline::CubicHermiteSpline(
std::array<double, 2> xInitialControlVector,
std::array<double, 2> xFinalControlVector,
std::array<double, 2> yInitialControlVector,
std::array<double, 2> yFinalControlVector) {
wpi::array<double, 2> xInitialControlVector,
wpi::array<double, 2> xFinalControlVector,
wpi::array<double, 2> yInitialControlVector,
wpi::array<double, 2> yFinalControlVector) {
const auto hermite = MakeHermiteBasis();
const auto x =
ControlVectorFromArrays(xInitialControlVector, xFinalControlVector);

8
wpimath/src/main/native/cpp/spline/QuinticHermiteSpline.cpp
View File

@@ -7,10 +7,10 @@
using namespace frc;
QuinticHermiteSpline::QuinticHermiteSpline(
std::array<double, 3> xInitialControlVector,
std::array<double, 3> xFinalControlVector,
std::array<double, 3> yInitialControlVector,
std::array<double, 3> yFinalControlVector) {
wpi::array<double, 3> xInitialControlVector,
wpi::array<double, 3> xFinalControlVector,
wpi::array<double, 3> yInitialControlVector,
wpi::array<double, 3> yFinalControlVector) {
const auto hermite = MakeHermiteBasis();
const auto x =
ControlVectorFromArrays(xInitialControlVector, xFinalControlVector);

14
wpimath/src/main/native/cpp/spline/SplineHelper.cpp
View File

@@ -13,10 +13,10 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
const Spline<3>::ControlVector& end) {
std::vector<CubicHermiteSpline> splines;
std::array<double, 2> xInitial = start.x;
std::array<double, 2> yInitial = start.y;
std::array<double, 2> xFinal = end.x;
std::array<double, 2> yFinal = end.y;
wpi::array<double, 2> xInitial = start.x;
wpi::array<double, 2> yInitial = start.y;
wpi::array<double, 2> xFinal = end.x;
wpi::array<double, 2> yFinal = end.y;
if (waypoints.size() > 1) {
waypoints.emplace(waypoints.begin(),
@@ -102,9 +102,9 @@ std::vector<CubicHermiteSpline> SplineHelper::CubicSplinesFromControlVectors(
const double yDeriv =
(3 * (yFinal[0] - yInitial[0]) - yFinal[1] - yInitial[1]) / 4.0;
std::array<double, 2> midXControlVector{waypoints[0].X().to<double>(),
wpi::array<double, 2> midXControlVector{waypoints[0].X().to<double>(),
xDeriv};
std::array<double, 2> midYControlVector{waypoints[0].Y().to<double>(),
wpi::array<double, 2> midYControlVector{waypoints[0].Y().to<double>(),
yDeriv};
splines.emplace_back(xInitial, midXControlVector, yInitial,
@@ -134,7 +134,7 @@ SplineHelper::QuinticSplinesFromControlVectors(
return splines;
}
std::array<Spline<3>::ControlVector, 2>
wpi::array<Spline<3>::ControlVector, 2>
SplineHelper::CubicControlVectorsFromWaypoints(
const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
const Pose2d& end) {