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[wpimath] Clean up math comments (#4252)

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This commit is contained in:
Tyler Veness
2022-05-20 15:16:56 -07:00
committed by GitHub
parent fff4d1f44e
commit 5aa67f56e6
25 changed files with 141 additions and 132 deletions
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2
wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
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@@ -46,7 +46,7 @@ Trajectory::State Trajectory::State::Interpolate(State endValue,
const units::meters_per_second_t newV = velocity + (acceleration * deltaT);
// Calculate the change in position.
// delta_s = v_0 t + 0.5 at^2
// delta_s = v_0 t + 0.5at²
const units::meter_t newS =
(velocity * deltaT + 0.5 * acceleration * deltaT * deltaT) *
(reversing ? -1.0 : 1.0);

8
wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
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@@ -62,7 +62,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
// acceleration, since acceleration limits may be a function of velocity.
while (true) {
// Enforce global max velocity and max reachable velocity by global
// acceleration limit. vf = std::sqrt(vi^2 + 2*a*d).
// acceleration limit. v_f = √(v_i² + 2ad).
constrainedState.maxVelocity = units::math::min(
maxVelocity,
@@ -126,7 +126,7 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
while (true) {
// Enforce max velocity limit (reverse)
// vf = std::sqrt(vi^2 + 2*a*d), where vi = successor.
// v_f = √(v_i² + 2ad), where v_i = successor.
units::meters_per_second_t newMaxVelocity =
units::math::sqrt(successor.maxVelocity * successor.maxVelocity +
successor.minAcceleration * ds * 2.0);
@@ -187,10 +187,10 @@ Trajectory TrajectoryParameterizer::TimeParameterizeTrajectory(
if (i > 0) {
states.at(i - 1).acceleration = reversed ? -accel : accel;
if (units::math::abs(accel) > 1E-6_mps_sq) {
// v_f = v_0 + a * t
// v_f = v_0 + at
dt = (state.maxVelocity - v) / accel;
} else if (units::math::abs(v) > 1E-6_mps) {
// delta_x = v * t
// delta_x = vt
dt = ds / v;
} else {
throw std::runtime_error(fmt::format(

10
wpimath/src/main/native/cpp/trajectory/constraint/CentripetalAccelerationConstraint.cpp
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@@ -15,12 +15,12 @@ CentripetalAccelerationConstraint::CentripetalAccelerationConstraint(
units::meters_per_second_t CentripetalAccelerationConstraint::MaxVelocity(
const Pose2d& pose, units::curvature_t curvature,
units::meters_per_second_t velocity) const {
// ac = v^2 / r
// k (curvature) = 1 / r
// ac = v²/r
// k (curvature) = 1/r
// therefore, ac = v^2 * k
// ac / k = v^2
// v = std::sqrt(ac / k)
// therefore, ac = v²k
// ac/k = v²
// v = √(ac/k)
// We have to multiply by 1_rad here to get the units to cancel out nicely.
// The units library defines a unit for radians although it is technically