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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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13
wpimath/src/test/native/cpp/geometry/Twist3dTest.cpp
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@@ -3,8 +3,7 @@
// the WPILib BSD license file in the root directory of this project.
#include <cmath>
#include <wpi/numbers>
#include <numbers>
#include "frc/geometry/Pose3d.h"
#include "gtest/gtest.h"
@@ -39,8 +38,8 @@ TEST(Twist3dTest, QuarterCircle) {
Eigen::Vector3d zAxis{0.0, 0.0, 1.0};
const Twist3d quarterCircle{
5_m / 2.0 * wpi::numbers::pi, 0_m, 0_m, 0_rad, 0_rad,
units::radian_t{wpi::numbers::pi / 2.0}};
5_m / 2.0 * std::numbers::pi, 0_m, 0_m, 0_rad, 0_rad,
units::radian_t{std::numbers::pi / 2.0}};
const auto quarterCirclePose = Pose3d{}.Exp(quarterCircle);
Pose3d expected{5_m, 5_m, 0_m, Rotation3d{zAxis, 90_deg}};
@@ -73,7 +72,7 @@ TEST(Twist3dTest, Pose3dLogX) {
const auto twist = start.Log(end);
Twist3d expected{0_m, units::meter_t{5.0 / 2.0 * wpi::numbers::pi},
Twist3d expected{0_m, units::meter_t{5.0 / 2.0 * std::numbers::pi},
0_m, 90_deg,
0_deg, 0_deg};
EXPECT_EQ(expected, twist);
@@ -89,7 +88,7 @@ TEST(Twist3dTest, Pose3dLogY) {
const auto twist = start.Log(end);
Twist3d expected{0_m, 0_m, units::meter_t{5.0 / 2.0 * wpi::numbers::pi},
Twist3d expected{0_m, 0_m, units::meter_t{5.0 / 2.0 * std::numbers::pi},
0_deg, 90_deg, 0_deg};
EXPECT_EQ(expected, twist);
@@ -104,7 +103,7 @@ TEST(Twist3dTest, Pose3dLogZ) {
const auto twist = start.Log(end);
Twist3d expected{units::meter_t{5.0 / 2.0 * wpi::numbers::pi},
Twist3d expected{units::meter_t{5.0 / 2.0 * std::numbers::pi},
0_m,
0_m,
0_deg,