Fix documentation warnings generated by JavaDoc (NFC) (#3428)

Some C++ Doxygen comments were updated to reflect any wording changes.

See `rg "(@return|@param \w+) TODO" | less` for list of incomplete docs.

wpimath/src/main/java/edu/wpi/first/math/Discretization.java

@@ -36,10 +36,13 @@ public final class Discretization {
    * taylor series to several terms and still be substantially cheaper than taking the big
    * exponential.
    *
+   * @param <States> Number of states.
+   * @param <Inputs> Number of inputs.
    * @param states Nat representing the states of the system.
    * @param contA Continuous system matrix.
    * @param contB Continuous input matrix.
    * @param dtseconds Discretization timestep.
+   * @return Pair containing discretized A and B matrices.
    */
   public static <States extends Num, Inputs extends Num>
       Pair<Matrix<States, States>, Matrix<States, Inputs>> discretizeABTaylor(

wpimath/src/main/java/edu/wpi/first/math/Drake.java

@@ -36,6 +36,8 @@ public final class Drake {
   /**
    * Solves the discrete alegebraic Riccati equation.
    *
+   * @param <States> Number of states.
+   * @param <Inputs> Number of inputs.
    * @param A System matrix.
    * @param B Input matrix.
    * @param Q State cost matrix.
@@ -88,6 +90,8 @@ public final class Drake {
   /**
    * Solves the discrete alegebraic Riccati equation.
    *
+   * @param <States> Number of states.
+   * @param <Inputs> Number of inputs.
    * @param A System matrix.
    * @param B Input matrix.
    * @param Q State cost matrix.

wpimath/src/main/java/edu/wpi/first/math/MathShared.java

@@ -9,6 +9,7 @@ public interface MathShared {
    * Report an error.
    *
    * @param error the error to set
+   * @param stackTrace array of stacktrace elements
    */
   void reportError(String error, StackTraceElement[] stackTrace);
 

wpimath/src/main/java/edu/wpi/first/math/MathSharedStore.java

@@ -9,7 +9,11 @@ public final class MathSharedStore {
 
   private MathSharedStore() {}
 
-  /** get the MathShared object. */
+  /**
+   * Get the MathShared object.
+   *
+   * @return The MathShared object.
+   */
   public static synchronized MathShared getMathShared() {
     if (mathShared == null) {
       mathShared =
@@ -24,7 +28,11 @@ public final class MathSharedStore {
     return mathShared;
   }
 
-  /** set the MathShared object. */
+  /**
+   * Set the MathShared object.
+   *
+   * @param shared The MathShared object.
+   */
   public static synchronized void setMathShared(MathShared shared) {
     mathShared = shared;
   }
@@ -33,6 +41,7 @@ public final class MathSharedStore {
    * Report an error.
    *
    * @param error the error to set
+   * @param stackTrace array of stacktrace elements
    */
   public static void reportError(String error, StackTraceElement[] stackTrace) {
     getMathShared().reportError(error, stackTrace);

wpimath/src/main/java/edu/wpi/first/math/MathUtil.java

@@ -15,6 +15,7 @@ public final class MathUtil {
    * @param value Value to clamp.
    * @param low The lower boundary to which to clamp value.
    * @param high The higher boundary to which to clamp value.
+   * @return The clamped value.
    */
   public static int clamp(int value, int low, int high) {
     return Math.max(low, Math.min(value, high));
@@ -26,6 +27,7 @@ public final class MathUtil {
    * @param value Value to clamp.
    * @param low The lower boundary to which to clamp value.
    * @param high The higher boundary to which to clamp value.
+   * @return The clamped value.
    */
   public static double clamp(double value, double low, double high) {
     return Math.max(low, Math.min(value, high));
@@ -37,6 +39,7 @@ public final class MathUtil {
    * @param input Input value to wrap.
    * @param minimumInput The minimum value expected from the input.
    * @param maximumInput The maximum value expected from the input.
+   * @return The wrapped value.
    */
   public static double inputModulus(double input, double minimumInput, double maximumInput) {
     double modulus = maximumInput - minimumInput;
@@ -56,6 +59,7 @@ public final class MathUtil {
    * Wraps an angle to the range -pi to pi radians.
    *
    * @param angleRadians Angle to wrap in radians.
+   * @return The wrapped angle.
    */
   public static double angleModulus(double angleRadians) {
     return inputModulus(angleRadians, -Math.PI, Math.PI);

wpimath/src/main/java/edu/wpi/first/math/Matrix.java

@@ -323,6 +323,7 @@ public class Matrix<R extends Num, C extends Num> {
    * <p>The matrix equation could also be written as x = A<sup>-1</sup>b. Where the pseudo inverse
    * is used if A is not square.
    *
+   * @param <C2> Columns in b.
    * @param b The right-hand side of the equation to solve.
    * @return The solution to the linear system.
    */
@@ -477,6 +478,8 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Extracts a matrix of a given size and start position with new underlying storage.
    *
+   * @param <R2> Number of rows to extract.
+   * @param <C2> Number of columns to extract.
    * @param height The number of rows of the extracted matrix.
    * @param width The number of columns of the extracted matrix.
    * @param startingRow The starting row of the extracted matrix.
@@ -496,6 +499,8 @@ public class Matrix<R extends Num, C extends Num> {
   /**
    * Assign a matrix of a given size and start position.
    *
+   * @param <R2> Rows in block assignment.
+   * @param <C2> Columns in block assignment.
    * @param startingRow The row to start at.
    * @param startingCol The column to start at.
    * @param other The matrix to assign the block to.
@@ -510,6 +515,8 @@ public class Matrix<R extends Num, C extends Num> {
    * Extracts a submatrix from the supplied matrix and inserts it in a submatrix in "this". The
    * shape of "this" is used to determine the size of the matrix extracted.
    *
+   * @param <R2> Number of rows to extract.
+   * @param <C2> Number of columns to extract.
    * @param startingRow The starting row in the supplied matrix to extract the submatrix.
    * @param startingCol The starting column in the supplied matrix to extract the submatrix.
    * @param other The matrix to extract the submatrix from.
@@ -603,6 +610,8 @@ public class Matrix<R extends Num, C extends Num> {
    * Reassigns dimensions of a {@link Matrix} to allow for operations with other matrices that have
    * wildcard dimensions.
    *
+   * @param <R1> Row dimension to assign.
+   * @param <C1> Column dimension to assign.
    * @param mat The {@link Matrix} to remove the dimensions from.
    * @return The matrix with reassigned dimensions.
    */

wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java

@@ -157,6 +157,7 @@ public final class StateSpaceUtil {
    * radians.
    *
    * @param pose A pose to convert to a vector.
+   * @return The given pose in as a 4x1 vector of x, y, cos(theta), and sin(theta).
    */
   public static Matrix<N4, N1> poseTo4dVector(Pose2d pose) {
     return VecBuilder.fill(

wpimath/src/main/java/edu/wpi/first/math/VecBuilder.java

@@ -33,6 +33,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * Returns a 1x1 vector containing the given elements.
    *
    * @param n1 the first element.
+   * @return 1x1 vector
    */
   public static Vector<N1> fill(double n1) {
     return new VecBuilder<>(Nat.N1()).fillVec(n1);
@@ -43,6 +44,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    *
    * @param n1 the first element.
    * @param n2 the second element.
+   * @return 2x1 vector
    */
   public static Vector<N2> fill(double n1, double n2) {
     return new VecBuilder<>(Nat.N2()).fillVec(n1, n2);
@@ -54,6 +56,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n1 the first element.
    * @param n2 the second element.
    * @param n3 the third element.
+   * @return 3x1 vector
    */
   public static Vector<N3> fill(double n1, double n2, double n3) {
     return new VecBuilder<>(Nat.N3()).fillVec(n1, n2, n3);
@@ -66,6 +69,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n2 the second element.
    * @param n3 the third element.
    * @param n4 the fourth element.
+   * @return 4x1 vector
    */
   public static Vector<N4> fill(double n1, double n2, double n3, double n4) {
     return new VecBuilder<>(Nat.N4()).fillVec(n1, n2, n3, n4);
@@ -79,6 +83,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n3 the third element.
    * @param n4 the fourth element.
    * @param n5 the fifth element.
+   * @return 5x1 vector
    */
   public static Vector<N5> fill(double n1, double n2, double n3, double n4, double n5) {
     return new VecBuilder<>(Nat.N5()).fillVec(n1, n2, n3, n4, n5);
@@ -93,6 +98,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n4 the fourth element.
    * @param n5 the fifth element.
    * @param n6 the sixth element.
+   * @return 6x1 vector
    */
   public static Vector<N6> fill(double n1, double n2, double n3, double n4, double n5, double n6) {
     return new VecBuilder<>(Nat.N6()).fillVec(n1, n2, n3, n4, n5, n6);
@@ -108,6 +114,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n5 the fifth element.
    * @param n6 the sixth element.
    * @param n7 the seventh element.
+   * @return 7x1 vector
    */
   public static Vector<N7> fill(
       double n1, double n2, double n3, double n4, double n5, double n6, double n7) {
@@ -125,6 +132,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n6 the sixth element.
    * @param n7 the seventh element.
    * @param n8 the eighth element.
+   * @return 8x1 vector
    */
   public static Vector<N8> fill(
       double n1, double n2, double n3, double n4, double n5, double n6, double n7, double n8) {
@@ -143,6 +151,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n7 the seventh element.
    * @param n8 the eighth element.
    * @param n9 the ninth element.
+   * @return 9x1 vector
    */
   public static Vector<N9> fill(
       double n1,
@@ -170,6 +179,7 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
    * @param n8 the eighth element.
    * @param n9 the ninth element.
    * @param n10 the tenth element.
+   * @return 10x1 vector
    */
   public static Vector<N10> fill(
       double n1,

wpimath/src/main/java/edu/wpi/first/math/WPIMathJNI.java

@@ -96,6 +96,7 @@ public final class WPIMathJNI {
    *
    * @param path The path to the JSON.
    * @return A double array with the trajectory states from the JSON.
+   * @throws IOException if the JSON could not be read.
    */
   public static native double[] fromPathweaverJson(String path) throws IOException;
 
@@ -104,6 +105,7 @@ public final class WPIMathJNI {
    *
    * @param elements The elements of the trajectory.
    * @param path The location to save the JSON to.
+   * @throws IOException if the JSON could not be written.
    */
   public static native void toPathweaverJson(double[] elements, String path) throws IOException;
 

wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java

@@ -222,6 +222,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    * Returns the next output of the controller.
    *
    * @param x The current state x.
+   * @return The next controller output.
    */
   @SuppressWarnings("ParameterName")
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> x) {
@@ -234,6 +235,7 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
    *
    * @param x The current state x.
    * @param nextR the next reference vector r.
+   * @return The next controller output.
    */
   @SuppressWarnings("ParameterName")
   public Matrix<Inputs, N1> calculate(Matrix<States, N1> x, Matrix<States, N1> nextR) {

wpimath/src/main/java/edu/wpi/first/math/controller/RamseteController.java

@@ -65,7 +65,11 @@ public class RamseteController {
     this(2.0, 0.7);
   }
 
-  /** Returns true if the pose error is within tolerance of the reference. */
+  /**
+   * Returns true if the pose error is within tolerance of the reference.
+   *
+   * @return True if the pose error is within tolerance of the reference.
+   */
   public boolean atReference() {
     final var eTranslate = m_poseError.getTranslation();
     final var eRotate = m_poseError.getRotation();
@@ -95,6 +99,7 @@ public class RamseteController {
    * @param poseRef The desired pose.
    * @param linearVelocityRefMeters The desired linear velocity in meters per second.
    * @param angularVelocityRefRadiansPerSecond The desired angular velocity in radians per second.
+   * @return The next controller output.
    */
   @SuppressWarnings("LocalVariableName")
   public ChassisSpeeds calculate(
@@ -131,6 +136,7 @@ public class RamseteController {
    *
    * @param currentPose The current pose.
    * @param desiredState The desired pose, linear velocity, and angular velocity from a trajectory.
+   * @return The next controller output.
    */
   @SuppressWarnings("LocalVariableName")
   public ChassisSpeeds calculate(Pose2d currentPose, Trajectory.State desiredState) {

wpimath/src/main/java/edu/wpi/first/math/estimator/AngleStatistics.java

@@ -20,9 +20,11 @@ public final class AngleStatistics {
    * Subtracts a and b while normalizing the resulting value in the selected row as if it were an
    * angle.
    *
+   * @param <S> Number of rows in vector.
    * @param a A vector to subtract from.
    * @param b A vector to subtract with.
    * @param angleStateIdx The row containing angles to be normalized.
+   * @return Difference of two vectors with angle at the given index normalized.
    */
   public static <S extends Num> Matrix<S, N1> angleResidual(
       Matrix<S, N1> a, Matrix<S, N1> b, int angleStateIdx) {
@@ -36,7 +38,9 @@ public final class AngleStatistics {
    * Returns a function that subtracts two vectors while normalizing the resulting value in the
    * selected row as if it were an angle.
    *
+   * @param <S> Number of rows in vector.
    * @param angleStateIdx The row containing angles to be normalized.
+   * @return Function returning difference of two vectors with angle at the given index normalized.
    */
   public static <S extends Num>
       BiFunction<Matrix<S, N1>, Matrix<S, N1>, Matrix<S, N1>> angleResidual(int angleStateIdx) {
@@ -46,9 +50,11 @@ public final class AngleStatistics {
   /**
    * Adds a and b while normalizing the resulting value in the selected row as an angle.
    *
+   * @param <S> Number of rows in vector.
    * @param a A vector to add with.
    * @param b A vector to add with.
    * @param angleStateIdx The row containing angles to be normalized.
+   * @return Sum of two vectors with angle at the given index normalized.
    */
   public static <S extends Num> Matrix<S, N1> angleAdd(
       Matrix<S, N1> a, Matrix<S, N1> b, int angleStateIdx) {
@@ -62,7 +68,9 @@ public final class AngleStatistics {
    * Returns a function that adds two vectors while normalizing the resulting value in the selected
    * row as an angle.
    *
+   * @param <S> Number of rows in vector.
    * @param angleStateIdx The row containing angles to be normalized.
+   * @return Function returning of two vectors with angle at the given index normalized.
    */
   public static <S extends Num> BiFunction<Matrix<S, N1>, Matrix<S, N1>, Matrix<S, N1>> angleAdd(
       int angleStateIdx) {
@@ -73,9 +81,11 @@ public final class AngleStatistics {
    * Computes the mean of sigmas with the weights Wm while computing a special angle mean for a
    * select row.
    *
+   * @param <S> Number of rows in sigma point matrix.
    * @param sigmas Sigma points.
    * @param Wm Weights for the mean.
    * @param angleStateIdx The row containing the angles.
+   * @return Mean of sigma points.
    */
   @SuppressWarnings("checkstyle:ParameterName")
   public static <S extends Num> Matrix<S, N1> angleMean(
@@ -101,7 +111,9 @@ public final class AngleStatistics {
    * Returns a function that computes the mean of sigmas with the weights Wm while computing a
    * special angle mean for a select row.
    *
+   * @param <S> Number of rows in sigma point matrix.
    * @param angleStateIdx The row containing the angles.
+   * @return Function returning mean of sigma points.
    */
   @SuppressWarnings("LambdaParameterName")
   public static <S extends Num> BiFunction<Matrix<S, ?>, Matrix<?, N1>, Matrix<S, N1>> angleMean(

wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java

@@ -329,6 +329,8 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    * The h(x, u) passed to the constructor is used if one is not provided (the two-argument version
    * of this function).
    *
+   * @param <R> Number of measurements in y.
+   * @param rows Number of rows in y.
    * @param u Same control input used in the predict step.
    * @param y Measurement vector.
    * @param h A vector-valued function of x and u that returns the measurement vector.
@@ -357,6 +359,8 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
    * The h(x, u) passed to the constructor is used if one is not provided (the two-argument version
    * of this function).
    *
+   * @param <R> Number of measurements in y.
+   * @param rows Number of rows in y.
    * @param u Same control input used in the predict step.
    * @param y Measurement vector.
    * @param h A vector-valued function of x and u that returns the measurement vector.

wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java

@@ -81,6 +81,7 @@ public class LinearFilter {
    *
    * @param timeConstant The discrete-time time constant in seconds.
    * @param period The period in seconds between samples taken by the user.
+   * @return Linear filter.
    */
   public static LinearFilter singlePoleIIR(double timeConstant, double period) {
     double gain = Math.exp(-period / timeConstant);
@@ -101,6 +102,7 @@ public class LinearFilter {
    *
    * @param timeConstant The discrete-time time constant in seconds.
    * @param period The period in seconds between samples taken by the user.
+   * @return Linear filter.
    */
   public static LinearFilter highPass(double timeConstant, double period) {
     double gain = Math.exp(-period / timeConstant);
@@ -117,6 +119,7 @@ public class LinearFilter {
    * <p>This filter is always stable.
    *
    * @param taps The number of samples to average over. Higher = smoother but slower.
+   * @return Linear filter.
    * @throws IllegalArgumentException if number of taps is less than 1.
    */
   public static LinearFilter movingAverage(int taps) {

wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java

@@ -56,6 +56,7 @@ public class SwerveModuleState implements Comparable<SwerveModuleState> {
    *
    * @param desiredState The desired state.
    * @param currentAngle The current module angle.
+   * @return Optimized swerve module state.
    */
   public static SwerveModuleState optimize(
       SwerveModuleState desiredState, Rotation2d currentAngle) {

wpimath/src/main/java/edu/wpi/first/math/system/LinearSystemLoop.java

@@ -302,7 +302,11 @@ public class LinearSystemLoop<States extends Num, Inputs extends Num, Outputs ex
     return m_clampFunction;
   }
 
-  /** Set the clamping function used to clamp inputs. */
+  /**
+   * Set the clamping function used to clamp inputs.
+   *
+   * @param clampFunction The clamping function.
+   */
   public void setClampFunction(Function<Matrix<Inputs, N1>, Matrix<Inputs, N1>> clampFunction) {
     this.m_clampFunction = clampFunction;
   }

wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java

@@ -66,6 +66,7 @@ public class DCMotor {
    *
    * @param speedRadiansPerSec The speed of the rotor.
    * @param voltageInputVolts The input voltage.
+   * @return The estimated current.
    */
   public double getCurrent(double speedRadiansPerSec, double voltageInputVolts) {
     return -1.0 / KvRadPerSecPerVolt / rOhms * speedRadiansPerSec + 1.0 / rOhms * voltageInputVolts;
@@ -75,6 +76,7 @@ public class DCMotor {
    * Return a gearbox of CIM motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of CIM motors.
    */
   public static DCMotor getCIM(int numMotors) {
     return new DCMotor(
@@ -85,6 +87,7 @@ public class DCMotor {
    * Return a gearbox of 775Pro motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of 775Pro motors.
    */
   public static DCMotor getVex775Pro(int numMotors) {
     return new DCMotor(
@@ -95,6 +98,7 @@ public class DCMotor {
    * Return a gearbox of NEO motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of NEO motors.
    */
   public static DCMotor getNEO(int numMotors) {
     return new DCMotor(
@@ -105,6 +109,7 @@ public class DCMotor {
    * Return a gearbox of MiniCIM motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of MiniCIM motors.
    */
   public static DCMotor getMiniCIM(int numMotors) {
     return new DCMotor(
@@ -115,6 +120,7 @@ public class DCMotor {
    * Return a gearbox of Bag motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Bag motors.
    */
   public static DCMotor getBag(int numMotors) {
     return new DCMotor(
@@ -125,6 +131,7 @@ public class DCMotor {
    * Return a gearbox of Andymark RS775-125 motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Andymark RS775-125 motors.
    */
   public static DCMotor getAndymarkRs775_125(int numMotors) {
     return new DCMotor(
@@ -135,6 +142,7 @@ public class DCMotor {
    * Return a gearbox of Banebots RS775 motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Banebots RS775 motors.
    */
   public static DCMotor getBanebotsRs775(int numMotors) {
     return new DCMotor(
@@ -145,6 +153,7 @@ public class DCMotor {
    * Return a gearbox of Andymark 9015 motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Andymark 9015 motors.
    */
   public static DCMotor getAndymark9015(int numMotors) {
     return new DCMotor(
@@ -155,6 +164,7 @@ public class DCMotor {
    * Return a gearbox of Banebots RS 550 motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Banebots RS 550 motors.
    */
   public static DCMotor getBanebotsRs550(int numMotors) {
     return new DCMotor(
@@ -162,9 +172,10 @@ public class DCMotor {
   }
 
   /**
-   * Return a gearbox of Neo 550 motors.
+   * Return a gearbox of NEO 550 motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of NEO 550 motors.
    */
   public static DCMotor getNeo550(int numMotors) {
     return new DCMotor(
@@ -175,6 +186,7 @@ public class DCMotor {
    * Return a gearbox of Falcon 500 motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Falcon 500 motors.
    */
   public static DCMotor getFalcon500(int numMotors) {
     return new DCMotor(
@@ -185,6 +197,7 @@ public class DCMotor {
    * Return a gearbox of Romi/TI_RSLK MAX motors.
    *
    * @param numMotors Number of motors in the gearbox.
+   * @return A gearbox of Romi/TI_RSLK MAX motors.
    */
   public static DCMotor getRomiBuiltIn(int numMotors) {
     // From https://www.pololu.com/product/1520/specs

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java

@@ -166,6 +166,7 @@ public class TrapezoidProfile {
    * the profile was at time t = 0.
    *
    * @param t The time since the beginning of the profile.
+   * @return The position and velocity of the profile at time t.
    */
   public State calculate(double t) {
     State result = new State(m_initial.position, m_initial.velocity);
@@ -195,6 +196,7 @@ public 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.
    */
   public double timeLeftUntil(double target) {
     double position = m_initial.position * m_direction;
@@ -263,7 +265,11 @@ public class TrapezoidProfile {
     return accelTime + fullSpeedTime + deccelTime;
   }
 
-  /** Returns the total time the profile takes to reach the goal. */
+  /**
+   * Returns the total time the profile takes to reach the goal.
+   *
+   * @return The total time the profile takes to reach the goal.
+   */
   public double totalTime() {
     return m_endDeccel;
   }
@@ -275,6 +281,7 @@ public class TrapezoidProfile {
    * profile's total time.
    *
    * @param t The time since the beginning of the profile.
+   * @return True if the profile has reached the goal.
    */
   public boolean isFinished(double t) {
     return t >= totalTime();

wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/MecanumDriveKinematicsConstraint.java

@@ -18,8 +18,9 @@ public class MecanumDriveKinematicsConstraint implements TrajectoryConstraint {
   private final MecanumDriveKinematics m_kinematics;
 
   /**
-   * Constructs a mecanum drive dynamics constraint.
+   * Constructs a mecanum drive kinematics constraint.
    *
+   * @param kinematics Mecanum drive kinematics.
    * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
    */
   public MecanumDriveKinematicsConstraint(

wpimath/src/main/java/edu/wpi/first/math/trajectory/constraint/SwerveDriveKinematicsConstraint.java

@@ -18,8 +18,9 @@ public class SwerveDriveKinematicsConstraint implements TrajectoryConstraint {
   private final SwerveDriveKinematics m_kinematics;
 
   /**
-   * Constructs a swerve drive dynamics constraint.
+   * Constructs a swerve drive kinematics constraint.
    *
+   * @param kinematics Swerve drive kinematics.
    * @param maxSpeedMetersPerSecond The max speed that a side of the robot can travel at.
    */
   public SwerveDriveKinematicsConstraint(