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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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2
wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.cpp
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@@ -168,7 +168,7 @@ TEST_F(SwerveDriveKinematicsTest, NormalizeTest) {
SwerveModuleState state3{4.0_mps, Rotation2d()};
SwerveModuleState state4{7.0_mps, Rotation2d()};
std::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
wpi::array<SwerveModuleState, 4> arr{state1, state2, state3, state4};
SwerveDriveKinematics<4>::NormalizeWheelSpeeds(&arr, 5.5_mps);
double kFactor = 5.5 / 7.0;