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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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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