mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
ac9be78e27
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
28 lines
705 B
C++
28 lines
705 B
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include <cmath>
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#include "frc/EigenCore.h"
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#include "frc/controller/LinearPlantInversionFeedforward.h"
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#include "units/time.h"
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namespace frc {
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TEST(LinearPlantInversionFeedforwardTest, Calculate) {
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Matrixd<2, 2> A{{1, 0}, {0, 1}};
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Matrixd<2, 1> B{0, 1};
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frc::LinearPlantInversionFeedforward<2, 1> feedforward{A, B, 20_ms};
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Vectord<2> r{2, 2};
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Vectord<2> nextR{3, 3};
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EXPECT_NEAR(47.502599, feedforward.Calculate(r, nextR)(0, 0), 0.002);
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}
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} // namespace frc
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