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[wpimath] Remove deprecated TrapezoidProfile constructors (#6558)

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This commit is contained in:
Isaac Turner
2024-04-30 12:04:57 +08:00
committed by GitHub
parent f5e08652f8
commit 70417f64da
3 changed files with 1 additions and 204 deletions
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103
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
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@@ -47,8 +47,6 @@ public class TrapezoidProfile {
private final Constraints m_constraints;
private State m_current;
private State m_goal; // TODO: Remove
private final boolean m_newAPI; // TODO: Remove
private double m_endAccel;
private double m_endFullSpeed;
@@ -143,107 +141,6 @@ public class TrapezoidProfile {
*/
public TrapezoidProfile(Constraints constraints) {
m_constraints = constraints;
m_newAPI = true;
}
/**
* Constructs a TrapezoidProfile.
*
* @param constraints The constraints on the profile, like maximum velocity.
* @param goal The desired state when the profile is complete.
* @param initial The initial state (usually the current state).
* @deprecated Pass the desired and current state into calculate instead of constructing a new
* TrapezoidProfile with the desired and current state
*/
@Deprecated(since = "2024", forRemoval = true)
public TrapezoidProfile(Constraints constraints, State goal, State initial) {
m_direction = shouldFlipAcceleration(initial, goal) ? -1 : 1;
m_constraints = constraints;
m_current = direct(initial);
m_goal = direct(goal);
m_newAPI = false;
if (m_current.velocity > m_constraints.maxVelocity) {
m_current.velocity = m_constraints.maxVelocity;
}
// Deal with a possibly truncated motion profile (with nonzero initial or
// final velocity) by calculating the parameters as if the profile began and
// ended at zero velocity
double cutoffBegin = m_current.velocity / m_constraints.maxAcceleration;
double cutoffDistBegin = cutoffBegin * cutoffBegin * m_constraints.maxAcceleration / 2.0;
double cutoffEnd = m_goal.velocity / m_constraints.maxAcceleration;
double cutoffDistEnd = cutoffEnd * cutoffEnd * m_constraints.maxAcceleration / 2.0;
// Now we can calculate the parameters as if it was a full trapezoid instead
// of a truncated one
double fullTrapezoidDist =
cutoffDistBegin + (m_goal.position - m_current.position) + cutoffDistEnd;
double accelerationTime = m_constraints.maxVelocity / m_constraints.maxAcceleration;
double fullSpeedDist =
fullTrapezoidDist - accelerationTime * accelerationTime * m_constraints.maxAcceleration;
// Handle the case where the profile never reaches full speed
if (fullSpeedDist < 0) {
accelerationTime = Math.sqrt(fullTrapezoidDist / m_constraints.maxAcceleration);
fullSpeedDist = 0;
}
m_endAccel = accelerationTime - cutoffBegin;
m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
}
/**
* Constructs a TrapezoidProfile.
*
* @param constraints The constraints on the profile, like maximum velocity.
* @param goal The desired state when the profile is complete.
* @deprecated Pass the desired and current state into calculate instead of constructing a new
* TrapezoidProfile with the desired and current state
*/
@Deprecated(since = "2024", forRemoval = true)
public TrapezoidProfile(Constraints constraints, State goal) {
this(constraints, goal, new State(0, 0));
}
/**
* Calculates the position and velocity for the profile at a time t where the current state is at
* time t = 0.
*
* @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
*/
@Deprecated(since = "2024", forRemoval = true)
public State calculate(double t) {
if (m_newAPI) {
throw new RuntimeException("Cannot use new constructor with deprecated calculate()");
}
State result = new State(m_current.position, m_current.velocity);
if (t < m_endAccel) {
result.velocity += t * m_constraints.maxAcceleration;
result.position += (m_current.velocity + t * m_constraints.maxAcceleration / 2.0) * t;
} else if (t < m_endFullSpeed) {
result.velocity = m_constraints.maxVelocity;
result.position +=
(m_current.velocity + m_endAccel * m_constraints.maxAcceleration / 2.0) * m_endAccel
+ m_constraints.maxVelocity * (t - m_endAccel);
} else if (t <= m_endDeccel) {
result.velocity = m_goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
double timeLeft = m_endDeccel - t;
result.position =
m_goal.position
- (m_goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) * timeLeft;
} else {
result = m_goal;
}
return direct(result);
}
/**