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Upgrade to C++20 (#4239)

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* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL

* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Tyler Veness
2022-10-15 16:33:14 -07:00
committed by GitHub
parent 396143004c
commit fbdc810887
355 changed files with 1659 additions and 2918 deletions
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14
wpimath/src/test/native/cpp/estimator/AngleStatisticsTest.cpp
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@@ -4,7 +4,7 @@
#include <gtest/gtest.h>
#include <wpi/numbers>
#include <numbers>
#include "frc/EigenCore.h"
#include "frc/estimator/AngleStatistics.h"
@@ -12,7 +12,7 @@
TEST(AngleStatisticsTest, Mean) {
frc::Matrixd<3, 3> sigmas{
{1, 1.2, 0},
{359 * wpi::numbers::pi / 180, 3 * wpi::numbers::pi / 180, 0},
{359 * std::numbers::pi / 180, 3 * std::numbers::pi / 180, 0},
{1, 2, 0}};
// Weights need to produce the mean of the sigmas
Eigen::Vector3d weights;
@@ -23,16 +23,16 @@ TEST(AngleStatisticsTest, Mean) {
}
TEST(AngleStatisticsTest, Residual) {
Eigen::Vector3d a{1, 1 * wpi::numbers::pi / 180, 2};
Eigen::Vector3d b{1, 359 * wpi::numbers::pi / 180, 1};
Eigen::Vector3d a{1, 1 * std::numbers::pi / 180, 2};
Eigen::Vector3d b{1, 359 * std::numbers::pi / 180, 1};
EXPECT_TRUE(frc::AngleResidual<3>(a, b, 1).isApprox(
Eigen::Vector3d{0, 2 * wpi::numbers::pi / 180, 1}));
Eigen::Vector3d{0, 2 * std::numbers::pi / 180, 1}));
}
TEST(AngleStatisticsTest, Add) {
Eigen::Vector3d a{1, 1 * wpi::numbers::pi / 180, 2};
Eigen::Vector3d b{1, 359 * wpi::numbers::pi / 180, 1};
Eigen::Vector3d a{1, 1 * std::numbers::pi / 180, 2};
Eigen::Vector3d b{1, 359 * std::numbers::pi / 180, 1};
EXPECT_TRUE(frc::AngleAdd<3>(a, b, 1).isApprox(Eigen::Vector3d{2, 0, 3}));
}