From 8723caf78dd75ac0e752cf272650455f11e84873 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Thu, 28 Oct 2021 00:17:36 -0700 Subject: [PATCH] [wpilibj] Make Java TrapezoidProfile.Constraints an immutable class (#3687) --- .../edu/wpi/first/math/trajectory/TrapezoidProfile.java | 8 ++------ .../wpi/first/math/trajectory/TrapezoidProfileTest.java | 2 +- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java index 93182efea0..35745b54e8 100644 --- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java +++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java @@ -52,14 +52,10 @@ public class TrapezoidProfile { public static class Constraints { @SuppressWarnings("MemberName") - public double maxVelocity; + public final double maxVelocity; @SuppressWarnings("MemberName") - public double maxAcceleration; - - public Constraints() { - MathSharedStore.reportUsage(MathUsageId.kTrajectory_TrapezoidProfile, 1); - } + public final double maxAcceleration; /** * Construct constraints for a TrapezoidProfile. diff --git a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java index 051b4b3737..062563fcdb 100644 --- a/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java +++ b/wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java @@ -77,7 +77,7 @@ class TrapezoidProfileTest { double lastPos = state.position; for (int i = 0; i < 1600; ++i) { if (i == 400) { - constraints.maxVelocity = 0.75; + constraints = new TrapezoidProfile.Constraints(0.75, 0.75); } profile = new TrapezoidProfile(constraints, goal, state);