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

12
wpimath/src/main/native/include/frc/spline/CubicHermiteSpline.h
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@@ -4,7 +4,7 @@
#pragma once
#include <array>
#include <wpi/array.h>
#include "Eigen/Core"
#include "frc/spline/Spline.h"
@@ -29,10 +29,10 @@ class CubicHermiteSpline : public Spline<3> {
* @param yFinalControlVector The control vector for the final point in
* the y dimension.
*/
CubicHermiteSpline(std::array<double, 2> xInitialControlVector,
std::array<double, 2> xFinalControlVector,
std::array<double, 2> yInitialControlVector,
std::array<double, 2> yFinalControlVector);
CubicHermiteSpline(wpi::array<double, 2> xInitialControlVector,
wpi::array<double, 2> xFinalControlVector,
wpi::array<double, 2> yInitialControlVector,
wpi::array<double, 2> yFinalControlVector);
protected:
/**
@@ -72,7 +72,7 @@ class CubicHermiteSpline : public Spline<3> {
* @return The control vector matrix for a dimension.
*/
static Eigen::Vector4d ControlVectorFromArrays(
std::array<double, 2> initialVector, std::array<double, 2> finalVector) {
wpi::array<double, 2> initialVector, wpi::array<double, 2> finalVector) {
return (Eigen::Vector4d() << initialVector[0], initialVector[1],
finalVector[0], finalVector[1])
.finished();

12
wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
View File

@@ -4,7 +4,7 @@
#pragma once
#include <array>
#include <wpi/array.h>
#include "Eigen/Core"
#include "frc/spline/Spline.h"
@@ -29,10 +29,10 @@ class QuinticHermiteSpline : public Spline<5> {
* @param yFinalControlVector The control vector for the final point in
* the y dimension.
*/
QuinticHermiteSpline(std::array<double, 3> xInitialControlVector,
std::array<double, 3> xFinalControlVector,
std::array<double, 3> yInitialControlVector,
std::array<double, 3> yFinalControlVector);
QuinticHermiteSpline(wpi::array<double, 3> xInitialControlVector,
wpi::array<double, 3> xFinalControlVector,
wpi::array<double, 3> yInitialControlVector,
wpi::array<double, 3> yFinalControlVector);
protected:
/**
@@ -74,7 +74,7 @@ class QuinticHermiteSpline : public Spline<5> {
* @return The control vector matrix for a dimension.
*/
static Eigen::Matrix<double, 6, 1> ControlVectorFromArrays(
std::array<double, 3> initialVector, std::array<double, 3> finalVector) {
wpi::array<double, 3> initialVector, wpi::array<double, 3> finalVector) {
return (Eigen::Matrix<double, 6, 1>() << initialVector[0], initialVector[1],
initialVector[2], finalVector[0], finalVector[1], finalVector[2])
.finished();

7
wpimath/src/main/native/include/frc/spline/Spline.h
View File

@@ -4,10 +4,11 @@
#pragma once
#include <array>
#include <utility>
#include <vector>
#include <wpi/array.h>
#include "Eigen/Core"
#include "frc/geometry/Pose2d.h"
#include "units/curvature.h"
@@ -43,8 +44,8 @@ class Spline {
* dimension.
*/
struct ControlVector {
std::array<double, (Degree + 1) / 2> x;
std::array<double, (Degree + 1) / 2> y;
wpi::array<double, (Degree + 1) / 2> x;
wpi::array<double, (Degree + 1) / 2> y;
};
/**

5
wpimath/src/main/native/include/frc/spline/SplineHelper.h
View File

@@ -4,10 +4,11 @@
#pragma once
#include <array>
#include <utility>
#include <vector>
#include <wpi/array.h>
#include "frc/spline/CubicHermiteSpline.h"
#include "frc/spline/QuinticHermiteSpline.h"
@@ -27,7 +28,7 @@ class SplineHelper {
* @param end The ending pose.
* @return 2 cubic control vectors.
*/
static std::array<Spline<3>::ControlVector, 2>
static wpi::array<Spline<3>::ControlVector, 2>
CubicControlVectorsFromWaypoints(
const Pose2d& start, const std::vector<Translation2d>& interiorWaypoints,
const Pose2d& end);