ran formatters

wpimath/src/main/java/edu/wpi/first/math/geometry/AllianceSymmetry.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.math.geometry;
 
 import java.util.HashMap;
+import java.util.Map;
 
 /**
  * A utility to standardize flipping of coordinate data based on the current alliance across
@@ -13,54 +14,66 @@
  * <p>If every vendor used this, the user would be able to specify the year and no matter the year
  * the vendor's code is from, the user would be able to flip as expected.
  */
-public class AllianceSymmetry {
+public final class AllianceSymmetry {
   private AllianceSymmetry() {
     throw new UnsupportedOperationException("This is a utility class!");
   }
 
   /** The strategy to use for flipping coordinates over axis of symmetry. */
-  public static enum SymmetryStrategy {
+  public enum SymmetryStrategy {
     /**
      * X becomes fieldLength - x, leaves the y coordinate unchanged, and heading becomes PI -
      * heading.
      */
     VERTICAL {
+      @Override
       public double flipX(double x) {
         return activeYear.fieldLength - x;
       }
 
+      @Override
       public double flipY(double y) {
         return y;
       }
 
+      @Override
       public double flipHeading(double heading) {
         return Math.PI - heading;
       }
     },
     /** X becomes fieldLength - x, Y becomes fieldWidth - y, and heading becomes PI - heading. */
     ROTATIONAL {
+      @Override
       public double flipX(double x) {
         return activeYear.fieldLength - x;
       }
 
+      @Override
       public double flipY(double y) {
         return activeYear.fieldWidth - y;
       }
 
+      @Override
       public double flipHeading(double heading) {
         return Math.PI - heading;
       }
     },
-    /** Leaves the X coordinate unchanged, Y becomes fieldWidth - y, and heading becomes PI - heading. */
+    /**
+     * Leaves the X coordinate unchanged, Y becomes fieldWidth - y, and heading becomes PI -
+     * heading.
+     */
     HORIZONTAL {
+      @Override
       public double flipX(double x) {
         return x;
       }
 
+      @Override
       public double flipY(double y) {
         return activeYear.fieldWidth - y;
       }
 
+      @Override
       public double flipHeading(double heading) {
         return Math.PI - heading;
       }
@@ -92,28 +105,33 @@ public double flipHeading(double heading) {
   }
 
   /** An interface for objects that can be flipped based on the current alliance. */
-  public static interface Flippable<Self extends Flippable<Self>> {
+  public interface Flippable<Self extends Flippable<Self>> {
     /**
-     * Flips the object based on the supplied flipper.
+     * Flips the object based on the supplied {@link SymmetryStrategy} .
+     *
+     * @param strategy The type of symmetry to use for flipping.
+     * @return The flipped object.
      */
-    public Self flip(SymmetryStrategy strategy);
+    Self flip(SymmetryStrategy strategy);
 
-    /** Flips the object based on the active flipper. */
-    public default Self flip() {
+    /**
+     * Flips the object based on the active flipper.
+     *
+     * @return The flipped object.
+     */
+    default Self flip() {
       return flip(getFlipper());
     }
   }
 
-  private static record YearInfo(SymmetryStrategy flipper, double fieldLength, double fieldWidth) {}
+  private record YearInfo(SymmetryStrategy flipper, double fieldLength, double fieldWidth) {}
 
   private static final HashMap<Integer, YearInfo> flipperMap =
-      new HashMap<Integer, YearInfo>() {
-        {
-          put(2022, new YearInfo(SymmetryStrategy.ROTATIONAL, 16.4592, 8.2296));
-          put(2023, new YearInfo(SymmetryStrategy.VERTICAL, 16.54175, 8.0137));
-          put(2024, new YearInfo(SymmetryStrategy.VERTICAL, 16.54175, 8.211));
-        }
-      };
+      new HashMap<Integer, YearInfo>(
+          Map.of(
+              2022, new YearInfo(SymmetryStrategy.ROTATIONAL, 16.4592, 8.2296),
+              2023, new YearInfo(SymmetryStrategy.VERTICAL, 16.54175, 8.0137),
+              2024, new YearInfo(SymmetryStrategy.VERTICAL, 16.54175, 8.211)));
 
   private static YearInfo activeYear = flipperMap.get(2024);
 

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java

@@ -10,9 +10,10 @@
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.geometry.AllianceSymmetry.Flippable;
+import edu.wpi.first.math.geometry.AllianceSymmetry.SymmetryStrategy;
 import edu.wpi.first.math.geometry.proto.Pose2dProto;
 import edu.wpi.first.math.geometry.struct.Pose2dStruct;
-import edu.wpi.first.math.geometry.AllianceSymmetry.*;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.util.protobuf.ProtobufSerializable;
@@ -352,10 +353,7 @@ public Pose2d interpolate(Pose2d endValue, double t) {
 
   @Override
   public Pose2d flip(SymmetryStrategy strategy) {
-    return new Pose2d(
-        m_translation.flip(strategy),
-        m_rotation.flip(strategy)
-    );
+    return new Pose2d(m_translation.flip(strategy), m_rotation.flip(strategy));
   }
 
   /** Pose2d protobuf for serialization. */

wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java

@@ -10,9 +10,10 @@
 import com.fasterxml.jackson.annotation.JsonCreator;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.geometry.AllianceSymmetry.Flippable;
+import edu.wpi.first.math.geometry.AllianceSymmetry.SymmetryStrategy;
 import edu.wpi.first.math.geometry.proto.Pose3dProto;
 import edu.wpi.first.math.geometry.struct.Pose3dStruct;
-import edu.wpi.first.math.geometry.AllianceSymmetry.*;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.jni.Pose3dJNI;
 import edu.wpi.first.units.measure.Distance;

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java

@@ -12,9 +12,10 @@
 import com.fasterxml.jackson.annotation.JsonProperty;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.AllianceSymmetry.Flippable;
+import edu.wpi.first.math.geometry.AllianceSymmetry.SymmetryStrategy;
 import edu.wpi.first.math.geometry.proto.Rotation2dProto;
 import edu.wpi.first.math.geometry.struct.Rotation2dStruct;
-import edu.wpi.first.math.geometry.AllianceSymmetry.*;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.measure.Angle;

wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java

@@ -16,9 +16,10 @@
 import edu.wpi.first.math.Nat;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.Vector;
+import edu.wpi.first.math.geometry.AllianceSymmetry.Flippable;
+import edu.wpi.first.math.geometry.AllianceSymmetry.SymmetryStrategy;
 import edu.wpi.first.math.geometry.proto.Rotation3dProto;
 import edu.wpi.first.math.geometry.struct.Rotation3dStruct;
-import edu.wpi.first.math.geometry.AllianceSymmetry.*;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.units.measure.Angle;
@@ -510,12 +511,8 @@ public Rotation3d interpolate(Rotation3d endValue, double t) {
 
   @Override
   public Rotation3d flip(SymmetryStrategy strategy) {
-      Rotation2d rot2d = toRotation2d().flip(strategy);
-      return new Rotation3d(
-          this.getX(),
-          this.getY(),
-          rot2d.getRadians()
-      );
+    Rotation2d rot2d = toRotation2d().flip(strategy);
+    return new Rotation3d(this.getX(), this.getY(), rot2d.getRadians());
   }
 
   /** Rotation3d protobuf for serialization. */

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation2d.java

@@ -13,9 +13,10 @@
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.Vector;
+import edu.wpi.first.math.geometry.AllianceSymmetry.Flippable;
+import edu.wpi.first.math.geometry.AllianceSymmetry.SymmetryStrategy;
 import edu.wpi.first.math.geometry.proto.Translation2dProto;
 import edu.wpi.first.math.geometry.struct.Translation2dStruct;
-import edu.wpi.first.math.geometry.AllianceSymmetry.*;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.numbers.N2;
 import edu.wpi.first.units.measure.Distance;

wpimath/src/main/java/edu/wpi/first/math/geometry/Translation3d.java

@@ -13,9 +13,10 @@
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.Vector;
+import edu.wpi.first.math.geometry.AllianceSymmetry.Flippable;
+import edu.wpi.first.math.geometry.AllianceSymmetry.SymmetryStrategy;
 import edu.wpi.first.math.geometry.proto.Translation3dProto;
 import edu.wpi.first.math.geometry.struct.Translation3dStruct;
-import edu.wpi.first.math.geometry.AllianceSymmetry.*;
 import edu.wpi.first.math.interpolation.Interpolatable;
 import edu.wpi.first.math.numbers.N3;
 import edu.wpi.first.units.measure.Distance;
@@ -312,11 +313,7 @@ public Translation3d interpolate(Translation3d endValue, double t) {
 
   @Override
   public Translation3d flip(SymmetryStrategy strategy) {
-    return new Translation3d(
-      strategy.flipX(m_x),
-      strategy.flipY(m_y),
-      m_z
-    );
+    return new Translation3d(strategy.flipX(m_x), strategy.flipY(m_y), m_z);
   }
 
   /** Translation3d protobuf for serialization. */