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[wpimath] TrapezoidProfile: Fix null pointer when calling timeLeftUntil (#7894)

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This commit is contained in:
me-it-is
2025-04-25 21:58:05 -07:00
committed by GitHub
parent 92010c175f
commit 3960045663
4 changed files with 26 additions and 9 deletions
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14
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
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@@ -200,7 +200,8 @@ class TrapezoidProfile {
* Returns the time left until a target distance in the profile is reached.
*
* @param target The target distance.
* @return The time left until a target distance in the profile is reached.
* @return The time left until a target distance in the profile is reached, or
* zero if no goal was set.
*/
constexpr units::second_t TimeLeftUntil(Distance_t target) const {
Distance_t position = m_current.position * m_direction;
@@ -271,7 +272,8 @@ class TrapezoidProfile {
/**
* Returns the total time the profile takes to reach the goal.
*
* @return The total time the profile takes to reach the goal.
* @return The total time the profile takes to reach the goal, or zero if no
* goal was set.
*/
constexpr units::second_t TotalTime() const { return m_endDecel; }
@@ -311,14 +313,14 @@ class TrapezoidProfile {
}
// The direction of the profile, either 1 for forwards or -1 for inverted
int m_direction;
int m_direction = 1;
Constraints m_constraints;
State m_current;
units::second_t m_endAccel;
units::second_t m_endFullSpeed;
units::second_t m_endDecel;
units::second_t m_endAccel = 0_s;
units::second_t m_endFullSpeed = 0_s;
units::second_t m_endDecel = 0_s;
};
} // namespace frc