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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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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) {