Checkstyle naming conventions were changed to allow most of what's in
wpimath. Naming rules were disabled completely in wpimath since almost
all suppressions are for math notation.
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
The wpimath library is a new library designed to separate the reusable math functionality
from the common utility library (wpiutil) and the hardware-dependent library (wpilibc/j).
Package names / include file names were NOT changed to minimize breakage. In a future year
it would be good to revamp these for a more uniform user experience and to reduce the risk
of accidental naming conflicts.
While theoretically all of this functionality could be placed into wpiutil, several pieces
of this library (e.g. DARE) are very time-consuming to compile, so it's nice to avoid this
expense for users who only want cscore or ntcore. It also allows for easy future separation
of build tasks vs number of workers on memory-constrained machines.
This moves the following functionality from wpiutil into wpimath:
- Eigen
- ejml
- Drake
- DARE
- wpiutil.math package (Matrix etc)
- units
And the following functionality from wpilibc/j into wpimath:
- Geometry
- Kinematics
- Spline
- Trajectory
- LinearFilter
- MedianFilter
- Feed-forward controllers
- Build both debug and release binaries
- Append "d" to debug libraries in the style of opencv
- Split shared and static classifiers
- Add raspbian support
The old headers were moved into folders because doing so avoids polluting
the system include directories.
Folder names were also normalized to lowercase.
It is much more reliable than the old approach, as it no longer depends on a magic string
in a manifest file, and if the user changes their main class, or makes it not import from
something RobotBase, it will fail to compile instead of failing at runtime.
With requiring an importer, we should be able to automate this in the importer.
In roborio GCC 5.5, __FRC_ROBORIO__ has been added directly to the
compiler. So we can instead use that to detect if we are build for the
roborio, and in a much more reliable way.
