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removed all the using namespaces #339

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merged 5 commits into from
Nov 8, 2024
Merged

removed all the using namespaces #339

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ca559ca
removed all the using namespaces
ARRYTHEBEAST Nov 2, 2024
499a228
removed all the using namespaces
ARRYTHEBEAST Nov 5, 2024
c9ae82a
remove alll using namespaces
ARRYTHEBEAST Nov 5, 2024
b6af9db
removed using name space for kinematics
ARRYTHEBEAST Nov 5, 2024
4b298c7
format the AutonomousTask
ARRYTHEBEAST Nov 5, 2024
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6 changes: 3 additions & 3 deletions src/autonomous/AutonomousTask.cpp
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Expand Up @@ -36,7 +36,7 @@ void AutonomousTask::navigate() {
SLOW_DRIVE_THRESHOLD, DONE_THRESHOLD,
CLOSE_TO_TARGET_DUR_VAL);

DiffDriveKinematics diffDriveKinematics(Constants::EFF_WHEEL_BASE);
kinematics::DiffDriveKinematics diffDriveKinematics(Constants::EFF_WHEEL_BASE);

auto sleepUntil = std::chrono::steady_clock().now();
while (!cmd.isDone()) {
Expand All @@ -50,8 +50,8 @@ void AutonomousTask::navigate() {
cmd.setState(latestPos, robot::types::dataclock::now());
commands::command_t output = cmd.getOutput();
auto scaledVels = diffDriveKinematics.ensureWithinWheelSpeedLimit(
DiffDriveKinematics::PreferredVelPreservation::PreferThetaVel, output.xVel,
output.thetaVel, Constants::MAX_WHEEL_VEL);
kinematics::DiffDriveKinematics::PreferredVelPreservation::PreferThetaVel,
output.xVel, output.thetaVel, Constants::MAX_WHEEL_VEL);
navtypes::point_t relTarget = util::toTransform(latestPos) * _waypoint_coords;
LOG_F(INFO, "Relative Target: (%lf, %lf)", relTarget(0), relTarget(1));
LOG_F(INFO, "thetaVel: %lf", scaledVels(2));
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6 changes: 3 additions & 3 deletions src/control_interface.cpp
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Expand Up @@ -24,7 +24,7 @@ using namespace std::chrono_literals;

namespace robot {
namespace {
jointpos_t commandedWristPos{0, 0};
kinematics::jointpos_t commandedWristPos{0, 0};
std::mutex wristPosMutex;

void setJointMotorPower(robot::types::jointid_t joint, double power);
Expand Down Expand Up @@ -57,7 +57,7 @@ double setCmdVel(double dtheta, double dx) {
}
}

wheelvel_t wheelVels = driveKinematics().robotVelToWheelVel(dx, dtheta);
kinematics::wheelvel_t wheelVels = driveKinematics().robotVelToWheelVel(dx, dtheta);
double lPWM = wheelVels.lVel / Constants::MAX_WHEEL_VEL;
double rPWM = wheelVels.rVel / Constants::MAX_WHEEL_VEL;
double maxAbsPWM = std::max(std::abs(lPWM), std::abs(rPWM));
Expand Down Expand Up @@ -92,7 +92,7 @@ double setTankCmdVel(double left, double right) {
if (!Globals::swerveController.checkWheelRotation(DriveMode::Normal, curr_wheel_rots))
return 0;

wheelvel_t wheelVels = {left, right};
kinematics::wheelvel_t wheelVels = {left, right};
double lPWM = wheelVels.lVel / Constants::MAX_WHEEL_VEL;
double rPWM = wheelVels.rVel / Constants::MAX_WHEEL_VEL;
double maxAbsPWM = std::max(std::abs(lPWM), std::abs(rPWM));
Expand Down
3 changes: 1 addition & 2 deletions src/kinematics/SwerveDriveKinematics.h
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Expand Up @@ -3,7 +3,6 @@
#include "../navtypes.h"

namespace kinematics {
using namespace navtypes;

/**
* Represents robot wheel velocities in robot reference frame,
Expand Down Expand Up @@ -61,7 +60,7 @@ class SwerveDriveKinematics {
* robot's reference frame.
* @return the robot's translational and angular velocity in the robot's reference frame.
*/
pose_t wheelVelToRobotVel(swervewheelvel_t wheelVel) const;
navtypes::pose_t wheelVelToRobotVel(swervewheelvel_t wheelVel) const;

/**
* Calculate the pose update in the local reference frame given the velocities of the
Expand Down
4 changes: 2 additions & 2 deletions src/world_interface/simulator_interface.cpp
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Expand Up @@ -249,10 +249,10 @@ void initSimServer(net::websocket::SingleClientWSServer& ws) {
namespace robot {

namespace {
DiffDriveKinematics drive_kinematics(Constants::EFF_WHEEL_BASE);
kinematics::DiffDriveKinematics drive_kinematics(Constants::EFF_WHEEL_BASE);
} // namespace

const DiffDriveKinematics& driveKinematics() {
const kinematics::DiffDriveKinematics& driveKinematics() {
return drive_kinematics;
}

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1 change: 0 additions & 1 deletion src/world_interface/world_interface.h
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Expand Up @@ -11,7 +11,6 @@
#include <optional>
#include <unordered_set>

using namespace kinematics;
// forward declare cam::CameraParams instead of including it
// we do this to avoid unnecessarily including OpenCV in all build targets
namespace cam {
Expand Down