removed all the using namespaces (#339)

* removed all the using namespaces * removed all the using namespaces * remove alll using namespaces * removed using name space for kinematics * format the AutonomousTask
huskyroboticsteam · Nov 8, 2024 · 7635dea · 7635dea
1 parent d0c3ad0
commit 7635dea
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Showing 5 changed files with 9 additions and 11 deletions.
diff --git a/src/autonomous/AutonomousTask.cpp b/src/autonomous/AutonomousTask.cpp
@@ -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()) {
@@ -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));

diff --git a/src/control_interface.cpp b/src/control_interface.cpp
@@ -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);
@@ -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));
@@ -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));

diff --git a/src/kinematics/SwerveDriveKinematics.h b/src/kinematics/SwerveDriveKinematics.h
@@ -3,7 +3,6 @@
 #include "../navtypes.h"
 
 namespace kinematics {
-using namespace navtypes;
 
 /**
  * Represents robot wheel velocities in robot reference frame,
@@ -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

diff --git a/src/world_interface/simulator_interface.cpp b/src/world_interface/simulator_interface.cpp
@@ -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;
 }
 

diff --git a/src/world_interface/world_interface.h b/src/world_interface/world_interface.h
@@ -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 {