Fix typos with cspell (#6972)

2026-06-21 01:01:43 +00:00 · 2024-08-17 10:44:34 -04:00
parent 780b1e0391
commit b12b83aa89
83 changed files with 151 additions and 152 deletions
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/MerweScaledSigmaPoints.java
@@ -19,7 +19,7 @@ import org.ejml.simple.SimpleMatrix;
 *
 * <p>States is the dimensionality of the state. 2*States+1 weights will be generated.
 *
- * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilitic Inference in Dynamic
+ * <p>[1] R. Van der Merwe "Sigma-Point Kalman Filters for Probabilistic Inference in Dynamic
 * State-Space Models" (Doctoral dissertation)
 *
 * @param <S> The dimensionality of the state. 2 * States + 1 weights will be generated.
--- a/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/jni/DAREJNI.java
@@ -22,7 +22,7 @@ public final class DAREJNI extends WPIMathJNI {
   * </ul>
   *
   * <p>Only use this function if you're sure the preconditions are met. Solves the discrete
-   * alegebraic Riccati equation.
+   * algebraic Riccati equation.
   *
   * @param A Array containing elements of A in row-major order.
   * @param B Array containing elements of B in row-major order.
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
@@ -159,7 +159,7 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
  /**
   * Discretizes a continuous-time chassis speed.
   *
-   * <p>This function converts a continous-time chassis speed into a discrete-time one such that
+   * <p>This function converts a continuous-time chassis speed into a discrete-time one such that
   * when the discrete-time chassis speed is applied for one timestep, the robot moves as if the
   * velocity components are independent (i.e., the robot moves v_x * dt along the x-axis, v_y * dt
   * along the y-axis, and omega * dt around the z-axis).
--- a/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/kinematics/DifferentialDriveWheelPositions.java
@@ -23,11 +23,11 @@ public class DifferentialDriveWheelPositions
  /** Distance measured by the right side. */
  public double rightMeters;

-  /** DifferentialDriveWheelPostions struct for serialization. */
+  /** DifferentialDriveWheelPositions struct for serialization. */
  public static final DifferentialDriveWheelPositionsStruct struct =
      new DifferentialDriveWheelPositionsStruct();

-  /** DifferentialDriveWheelPostions struct for serialization. */
+  /** DifferentialDriveWheelPositions struct for serialization. */
  public static final DifferentialDriveWheelPositionsProto proto =
      new DifferentialDriveWheelPositionsProto();

--- a/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/system/NumericalIntegration.java
@@ -88,7 +88,7 @@ public final class NumericalIntegration {
  /**
   * Performs 4th order Runge-Kutta integration of dx/dt = f(x) for dt.
   *
-   * @param <States> A Num prepresenting the states of the system.
+   * @param <States> A Num representing the states of the system.
   * @param f The function to integrate. It must take one argument x.
   * @param x The initial value of x.
   * @param dtSeconds The time over which to integrate.
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
@@ -96,7 +96,7 @@ public class ExponentialProfile {
    /**
     * Computes the max achievable velocity for an Exponential Profile.
     *
-     * @return The seady-state velocity achieved by this profile.
+     * @return The steady-state velocity achieved by this profile.
     */
    public double maxVelocity() {
      return -maxInput * B / A;
--- a/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
@@ -50,7 +50,7 @@ public class TrapezoidProfile {

  private double m_endAccel;
  private double m_endFullSpeed;
-  private double m_endDeccel;
+  private double m_endDecel;

  /** Profile constraints. */
  public static class Constraints {
@@ -185,7 +185,7 @@ public class TrapezoidProfile {

    m_endAccel = accelerationTime - cutoffBegin;
    m_endFullSpeed = m_endAccel + fullSpeedDist / m_constraints.maxVelocity;
-    m_endDeccel = m_endFullSpeed + accelerationTime - cutoffEnd;
+    m_endDecel = m_endFullSpeed + accelerationTime - cutoffEnd;
    State result = new State(m_current.position, m_current.velocity);

    if (t < m_endAccel) {
@@ -196,9 +196,9 @@ public class TrapezoidProfile {
      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 = goal.velocity + (m_endDeccel - t) * m_constraints.maxAcceleration;
-      double timeLeft = m_endDeccel - t;
+    } else if (t <= m_endDecel) {
+      result.velocity = goal.velocity + (m_endDecel - t) * m_constraints.maxAcceleration;
+      double timeLeft = m_endDecel - t;
      result.position =
          goal.position
              - (goal.velocity + timeLeft * m_constraints.maxAcceleration / 2.0) * timeLeft;
@@ -232,7 +232,7 @@ public class TrapezoidProfile {
    endFullSpeed = Math.max(endFullSpeed, 0);

    final double acceleration = m_constraints.maxAcceleration;
-    final double decceleration = -m_constraints.maxAcceleration;
+    final double deceleration = -m_constraints.maxAcceleration;

    double distToTarget = Math.abs(target - position);
    if (distToTarget < 1e-6) {
@@ -241,40 +241,39 @@ public class TrapezoidProfile {

    double accelDist = velocity * endAccel + 0.5 * acceleration * endAccel * endAccel;

-    double deccelVelocity;
+    double decelVelocity;
    if (endAccel > 0) {
-      deccelVelocity = Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist));
+      decelVelocity = Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist));
    } else {
-      deccelVelocity = velocity;
+      decelVelocity = velocity;
    }

    double fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
-    double deccelDist;
+    double decelDist;

    if (accelDist > distToTarget) {
      accelDist = distToTarget;
      fullSpeedDist = 0;
-      deccelDist = 0;
+      decelDist = 0;
    } else if (accelDist + fullSpeedDist > distToTarget) {
      fullSpeedDist = distToTarget - accelDist;
-      deccelDist = 0;
+      decelDist = 0;
    } else {
-      deccelDist = distToTarget - fullSpeedDist - accelDist;
+      decelDist = distToTarget - fullSpeedDist - accelDist;
    }

    double accelTime =
        (-velocity + Math.sqrt(Math.abs(velocity * velocity + 2 * acceleration * accelDist)))
            / acceleration;

-    double deccelTime =
-        (-deccelVelocity
-                + Math.sqrt(
-                    Math.abs(deccelVelocity * deccelVelocity + 2 * decceleration * deccelDist)))
-            / decceleration;
+    double decelTime =
+        (-decelVelocity
+                + Math.sqrt(Math.abs(decelVelocity * decelVelocity + 2 * deceleration * decelDist)))
+            / deceleration;

    double fullSpeedTime = fullSpeedDist / m_constraints.maxVelocity;

-    return accelTime + fullSpeedTime + deccelTime;
+    return accelTime + fullSpeedTime + decelTime;
  }

  /**
@@ -283,7 +282,7 @@ public class TrapezoidProfile {
   * @return The total time the profile takes to reach the goal.
   */
  public double totalTime() {
-    return m_endDeccel;
+    return m_endDecel;
  }

  /**