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[wpimath] Give infeasible trajectory constraints a better exception message (#5492)

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Fixes #3146.
This commit is contained in:
Tyler Veness
2023-07-31 21:43:22 -07:00
committed by GitHub
parent 35a8b129d9
commit 815a8403e5
2 changed files with 4 additions and 9 deletions
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7
wpimath/src/main/native/cpp/trajectory/TrajectoryParameterizer.cpp
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@@ -223,10 +223,9 @@ void TrajectoryParameterizer::EnforceAccelerationLimits(
if (minMaxAccel.minAcceleration > minMaxAccel.maxAcceleration) {
throw std::runtime_error(
"The constraint's min acceleration was greater than its max "
"acceleration. To debug this, remove all constraints from the config "
"and add each one individually. If the offending constraint was "
"packaged with WPILib, please file a bug report.");
"There was an infeasible trajectory constraint. To determine which "
"one, remove all constraints from the TrajectoryConfig and add them "
"back one-by-one.");
}
state->minAcceleration = units::math::max(