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[wpimath] Reorder TrapezoidProfile.calculate() arguments (#5874)

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ProfiledPIDController and ExponentialProfile use current, then goal.
This isn't a breaking change because this overload of calculate() is
new for 2024.
This commit is contained in:
Tyler Veness
2023-11-04 16:28:55 -07:00
committed by GitHub
parent 04a781b4d7
commit 201a42a3cd
15 changed files with 45 additions and 45 deletions
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24
wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
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@@ -59,7 +59,7 @@ class TrapezoidProfileTest {
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 450; ++i) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
}
assertEquals(state, goal);
}
@@ -81,7 +81,7 @@ class TrapezoidProfileTest {
profile = new TrapezoidProfile(constraints);
}
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
double estimatedVel = (state.position - lastPos) / kDt;
if (i >= 400) {
@@ -107,7 +107,7 @@ class TrapezoidProfileTest {
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 400; ++i) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
}
assertEquals(state, goal);
}
@@ -120,14 +120,14 @@ class TrapezoidProfileTest {
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 200; ++i) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
}
assertNotEquals(state, goal);
goal = new TrapezoidProfile.State(0.0, 0.0);
profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 550; ++i) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
}
assertEquals(state, goal);
}
@@ -141,13 +141,13 @@ class TrapezoidProfileTest {
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 200; ++i) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
}
assertNear(constraints.maxVelocity, state.velocity, 10e-5);
profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 2000; ++i) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
}
assertEquals(state, goal);
}
@@ -160,7 +160,7 @@ class TrapezoidProfileTest {
TrapezoidProfile profile = new TrapezoidProfile(constraints);
for (int i = 0; i < 400; i++) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
assertNear(profile.timeLeftUntil(state.position), 0, 2e-2);
}
}
@@ -176,7 +176,7 @@ class TrapezoidProfileTest {
double predictedTimeLeft = profile.timeLeftUntil(goal.position);
boolean reachedGoal = false;
for (int i = 0; i < 400; i++) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
if (!reachedGoal && state.equals(goal)) {
// Expected value using for loop index is just an approximation since
// the time left in the profile doesn't increase linearly at the
@@ -198,7 +198,7 @@ class TrapezoidProfileTest {
double predictedTimeLeft = profile.timeLeftUntil(1);
boolean reachedGoal = false;
for (int i = 0; i < 400; i++) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
if (!reachedGoal && Math.abs(state.velocity - 1) < 10e-5) {
assertNear(predictedTimeLeft, i / 100.0, 2e-2);
reachedGoal = true;
@@ -217,7 +217,7 @@ class TrapezoidProfileTest {
double predictedTimeLeft = profile.timeLeftUntil(goal.position);
boolean reachedGoal = false;
for (int i = 0; i < 400; i++) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
if (!reachedGoal && state.equals(goal)) {
// Expected value using for loop index is just an approximation since
// the time left in the profile doesn't increase linearly at the
@@ -239,7 +239,7 @@ class TrapezoidProfileTest {
double predictedTimeLeft = profile.timeLeftUntil(-1);
boolean reachedGoal = false;
for (int i = 0; i < 400; i++) {
state = profile.calculate(kDt, goal, state);
state = profile.calculate(kDt, state, goal);
if (!reachedGoal && Math.abs(state.velocity + 1) < 10e-5) {
assertNear(predictedTimeLeft, i / 100.0, 2e-2);
reachedGoal = true;