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>
diff --git a/y2020/control_loops/drivetrain/localizer.cc b/y2020/control_loops/drivetrain/localizer.cc
index fabbb8e..0943b28 100644
--- a/y2020/control_loops/drivetrain/localizer.cc
+++ b/y2020/control_loops/drivetrain/localizer.cc
@@ -14,7 +14,8 @@
// appropriate.
Eigen::Matrix<float, 4, 4> FlatbufferToTransformationMatrix(
const frc971::vision::sift::TransformationMatrix &flatbuffer) {
- CHECK_EQ(16u, CHECK_NOTNULL(flatbuffer.data())->size());
+ CHECK(flatbuffer.data() != nullptr);
+ CHECK_EQ(16u, flatbuffer.data()->size());
Eigen::Matrix<float, 4, 4> result;
result.setIdentity();
for (int row = 0; row < 4; ++row) {
diff --git a/y2020/control_loops/drivetrain/localizer_test.cc b/y2020/control_loops/drivetrain/localizer_test.cc
index ca25137..e509241 100644
--- a/y2020/control_loops/drivetrain/localizer_test.cc
+++ b/y2020/control_loops/drivetrain/localizer_test.cc
@@ -215,7 +215,8 @@
// Run for enough time to allow the gyro/imu zeroing code to run.
RunFor(std::chrono::seconds(15));
CHECK(drivetrain_status_fetcher_.Fetch());
- EXPECT_TRUE(CHECK_NOTNULL(drivetrain_status_fetcher_->zeroing())->zeroed());
+ CHECK(drivetrain_status_fetcher_->zeroing() != nullptr);
+ EXPECT_TRUE(drivetrain_status_fetcher_->zeroing()->zeroed());
}
virtual ~LocalizedDrivetrainTest() override {}