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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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15
wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
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@@ -10,18 +10,19 @@ using namespace wpi::math;
void wpi::math::to_json(wpi::util::json& json, const Trajectory::State& state) {
json = wpi::util::json{{"time", state.t.value()},
{"velocity", state.velocity.value()},
{"acceleration", state.acceleration.value()},
{"pose", state.pose},
{"curvature", state.curvature.value()}};
{"velocity", state.velocity.value()},
{"acceleration", state.acceleration.value()},
{"pose", state.pose},
{"curvature", state.curvature.value()}};
}
void wpi::math::from_json(const wpi::util::json& json, Trajectory::State& state) {
void wpi::math::from_json(const wpi::util::json& json,
Trajectory::State& state) {
state.pose = json.at("pose").get<Pose2d>();
state.t = wpi::units::second_t{json.at("time").get<double>()};
state.velocity =
wpi::units::meters_per_second_t{json.at("velocity").get<double>()};
state.acceleration =
wpi::units::meters_per_second_squared_t{json.at("acceleration").get<double>()};
state.acceleration = wpi::units::meters_per_second_squared_t{
json.at("acceleration").get<double>()};
state.curvature = wpi::units::curvature_t{json.at("curvature").get<double>()};
}

8
wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
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@@ -67,9 +67,9 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
// acceleration limit. v_f = √(v_i² + 2ad).
constrainedState.maxVelocity = wpi::units::math::min(
maxVelocity,
wpi::units::math::sqrt(predecessor.maxVelocity * predecessor.maxVelocity +
predecessor.maxAcceleration * ds * 2.0));
maxVelocity, wpi::units::math::sqrt(
predecessor.maxVelocity * predecessor.maxVelocity +
predecessor.maxAcceleration * ds * 2.0));
constrainedState.minAcceleration = -maxAcceleration;
constrainedState.maxAcceleration = maxAcceleration;
@@ -131,7 +131,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
// v_f = √(v_i² + 2ad), where v_i = successor.
wpi::units::meters_per_second_t newMaxVelocity =
wpi::units::math::sqrt(successor.maxVelocity * successor.maxVelocity +
successor.minAcceleration * ds * 2.0);
successor.minAcceleration * ds * 2.0);
// No more limits to impose! This state can be finalized.
if (newMaxVelocity >= constrainedState.maxVelocity) {

11
wpimath/src/main/native/cpp/trajectory/proto/TrajectoryProto.cpp
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@@ -9,9 +9,10 @@
#include "wpi/util/protobuf/ProtobufCallbacks.hpp"
#include "wpimath/protobuf/trajectory.npb.h"
std::optional<wpi::math::Trajectory> wpi::util::Protobuf<wpi::math::Trajectory>::Unpack(
InputStream& stream) {
wpi::util::StdVectorUnpackCallback<wpi::math::Trajectory::State, SIZE_MAX> states;
std::optional<wpi::math::Trajectory>
wpi::util::Protobuf<wpi::math::Trajectory>::Unpack(InputStream& stream) {
wpi::util::StdVectorUnpackCallback<wpi::math::Trajectory::State, SIZE_MAX>
states;
wpi_proto_ProtobufTrajectory msg{
.states = states.Callback(),
};
@@ -22,8 +23,8 @@ std::optional<wpi::math::Trajectory> wpi::util::Protobuf<wpi::math::Trajectory>:
return wpi::math::Trajectory{states.Vec()};
}
bool wpi::util::Protobuf<wpi::math::Trajectory>::Pack(OutputStream& stream,
const wpi::math::Trajectory& value) {
bool wpi::util::Protobuf<wpi::math::Trajectory>::Pack(
OutputStream& stream, const wpi::math::Trajectory& value) {
wpi::util::PackCallback<wpi::math::Trajectory::State> states{value.States()};
wpi_proto_ProtobufTrajectory msg{
.states = states.Callback(),