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[wpimath] Trajectory: Throw on empty lists of States (#5497)

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Fixes #4141.
This commit is contained in:
Tyler Veness
2023-08-03 08:24:20 -07:00
committed by GitHub
parent 21439b606c
commit 6db2c42966
3 changed files with 26 additions and 0 deletions
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11
wpimath/src/main/native/cpp/trajectory/Trajectory.cpp
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@@ -5,6 +5,7 @@
#include "frc/trajectory/Trajectory.h"
#include <algorithm>
#include <stdexcept>
#include <wpi/MathExtras.h>
#include <wpi/json.h>
@@ -54,10 +55,20 @@ Trajectory::State Trajectory::State::Interpolate(State endValue,
}
Trajectory::Trajectory(const std::vector<State>& states) : m_states(states) {
if (m_states.empty()) {
throw std::invalid_argument(
"Trajectory manually initialized with no states.");
}
m_totalTime = states.back().t;
}
Trajectory::State Trajectory::Sample(units::second_t t) const {
if (m_states.empty()) {
throw std::runtime_error(
"Trajectory cannot be sampled if it has no states.");
}
if (t <= m_states.front().t) {
return m_states.front();
}