Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-25 01:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Clean up profile classes (#6311)

Browse Source 
* Reorder functions so they match between languages
* Copy more complete JavaDocs to C++
* Fix incorrect description for time parameter of
  TrapezoidProfile.calculate()
This commit is contained in:
Tyler Veness
2024-01-25 22:22:42 -08:00
committed by GitHub
parent d895a0c09f
commit 68736d802d
5 changed files with 162 additions and 90 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
View File

@@ -99,14 +99,14 @@ class TrapezoidProfile {
};
/**
* Construct a TrapezoidProfile.
* Constructs a TrapezoidProfile.
*
* @param constraints The constraints on the profile, like maximum velocity.
*/
TrapezoidProfile(Constraints constraints); // NOLINT
/**
* Construct a TrapezoidProfile.
* Constructs a TrapezoidProfile.
*
* @param constraints The constraints on the profile, like maximum velocity.
* @param goal The desired state when the profile is complete.
@@ -127,10 +127,12 @@ class TrapezoidProfile {
TrapezoidProfile& operator=(TrapezoidProfile&&) = default;
/**
* Calculate the correct position and velocity for the profile at a time t
* where the beginning of the profile was at time t = 0.
* Calculates the position and velocity for the profile at a time t where the
* current state is at time t = 0.
*
* @param t The time since the beginning of the profile.
* @param t How long to advance from the current state toward the desired
* state.
* @return The position and velocity of the profile at time t.
* @deprecated Pass the desired and current state into calculate instead of
* constructing a new TrapezoidProfile with the desired and current state
*/
@@ -141,12 +143,14 @@ class TrapezoidProfile {
State Calculate(units::second_t t) const;
/**
* Calculate the correct position and velocity for the profile at a time t
* where the beginning of the profile was at time t = 0.
* Calculates the position and velocity for the profile at a time t where the
* current state is at time t = 0.
*
* @param t The time since the beginning of the profile.
* @param current The initial state (usually the current state).
* @param goal The desired state when the profile is complete.
* @param t How long to advance from the current state toward the desired
* state.
* @param current The current state.
* @param goal The desired state when the profile is complete.
* @return The position and velocity of the profile at time t.
*/
State Calculate(units::second_t t, State current, State goal);
@@ -154,21 +158,25 @@ 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.
*/
units::second_t TimeLeftUntil(Distance_t target) const;
/**
* Returns the total time the profile takes to reach the goal.
*
* @return The total time the profile takes to reach the goal.
*/
units::second_t TotalTime() const { return m_endDeccel; }
/**
* Returns true if the profile has reached the goal.
*
* The profile has reached the goal if the time since the profile started
* has exceeded the profile's total time.
* The profile has reached the goal if the time since the profile started has
* exceeded the profile's total time.
*
* @param t The time since the beginning of the profile.
* @return True if the profile has reached the goal.
*/
bool IsFinished(units::second_t t) const { return t >= TotalTime(); }
@@ -179,7 +187,7 @@ class TrapezoidProfile {
* The profile is inverted if goal position is less than the initial position.
*
* @param initial The initial state (usually the current state).
* @param goal The desired state when the profile is complete.
* @param goal The desired state when the profile is complete.
*/
static bool ShouldFlipAcceleration(const State& initial, const State& goal) {
return initial.position > goal.position;