commit 6bdcc373ac7e633af04f180a96f0ed8df5d4b8b2
author Austin Schuh <austin.linux@gmail.com> Thu Jun 27 14:49:11 2024 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Jul 10 12:21:13 2024 -0700
tree 65ccbe993ae76d55506f89886895a5bf9a3ecb76
parent 93a83a2377a6785ebd40de83aa3953c3366134b1

Remove usage of CHECK_NOTNULL

We want to switch to absl logging instead of glog.  gtest and ceres are
going there, and we already have absl as a dependency.  ABSL doesn't
have CHECK_NOTNULL, and we can move things over in an easier to review
fashion.

Change-Id: Ifd9a11ec34a2357cec43f88dba015db9c28ed2cf
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

frc971/control_loops/drivetrain/trajectory.cc

diff --git a/frc971/control_loops/drivetrain/trajectory.cc b/frc971/control_loops/drivetrain/trajectory.cc
index cf9929f..4db41ee 100644
--- a/frc971/control_loops/drivetrain/trajectory.cc
+++ b/frc971/control_loops/drivetrain/trajectory.cc
@@ -38,9 +38,13 @@
         StateFeedbackLoop<2, 2, 2, double, StateFeedbackHybridPlant<2, 2, 2>,
                           HybridKalman<2, 2, 2>>>
         velocity_drivetrain)
-    : BaseTrajectory(CHECK_NOTNULL(CHECK_NOTNULL(buffer->spline())->spline())
-                         ->constraints(),
-                     config, std::move(velocity_drivetrain)),
+    : BaseTrajectory(
+          [&]() {
+            CHECK(buffer->spline() != nullptr);
+            CHECK(buffer->spline()->spline() != nullptr);
+            return buffer->spline()->spline()->constraints();
+          }(),
+          config, std::move(velocity_drivetrain)),
       buffer_(buffer),
       spline_(*buffer_->spline()) {}
 
@@ -819,8 +823,9 @@
 
 Eigen::Matrix<double, 2, 5> FinishedTrajectory::GainForDistance(
     double distance) const {
+  CHECK(trajectory().gains() != nullptr);
   const flatbuffers::Vector<flatbuffers::Offset<fb::GainPoint>> &gains =
-      *CHECK_NOTNULL(trajectory().gains());
+      *trajectory().gains();
   CHECK_LT(0u, gains.size());
   size_t index = 0;
   for (index = 0; index < gains.size() - 1; ++index) {