Templated angle conversion may not work as expected.

[elvout]

The degree-to-radians and radians-to-degrees functions defined in shared/math/math_util.h use templated parameter and return types. If the angle parameter is specified as an int, the function does statically casts the return type to an int, which loses precision and may not be what the caller was expecting.

[elvout]

We can use

static_assert(std::is_floating_point<T>::value, "");

To raise a compile error if an integral type is passed to the function.