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[wpimath] Replace MathUtil.clamp() with Java 21 Math.clamp() (#8186)

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This commit is contained in:
ninjadrknss
2025-08-23 06:01:51 -10:00
committed by GitHub
parent 183328384b
commit c280fce147
26 changed files with 41 additions and 98 deletions
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26
wpimath/src/main/java/edu/wpi/first/math/MathUtil.java
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@@ -13,30 +13,6 @@ public final class MathUtil {
throw new AssertionError("utility class");
}
/**
* Returns value clamped between low and high boundaries.
*
* @param value Value to clamp.
* @param low The lower boundary to which to clamp value.
* @param high The higher boundary to which to clamp value.
* @return The clamped value.
*/
public static int clamp(int value, int low, int high) {
return Math.max(low, Math.min(value, high));
}
/**
* Returns value clamped between low and high boundaries.
*
* @param value Value to clamp.
* @param low The lower boundary to which to clamp value.
* @param high The higher boundary to which to clamp value.
* @return The clamped value.
*/
public static double clamp(double value, double low, double high) {
return Math.max(low, Math.min(value, high));
}
/**
* Returns 0.0 if the given value is within the specified range around zero. The remaining range
* between the deadband and the maximum magnitude is scaled from 0.0 to the maximum magnitude.
@@ -184,7 +160,7 @@ public final class MathUtil {
* @return The interpolated value.
*/
public static double interpolate(double startValue, double endValue, double t) {
return startValue + (endValue - startValue) * MathUtil.clamp(t, 0, 1);
return startValue + (endValue - startValue) * Math.clamp(t, 0, 1);
}
/**

2
wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
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@@ -152,7 +152,7 @@ public final class StateSpaceUtil {
Matrix<I, N1> u, Matrix<I, N1> umin, Matrix<I, N1> umax) {
var result = new Matrix<I, N1>(new SimpleMatrix(u.getNumRows(), 1));
for (int i = 0; i < u.getNumRows(); i++) {
result.set(i, 0, MathUtil.clamp(u.get(i, 0), umin.get(i, 0), umax.get(i, 0)));
result.set(i, 0, Math.clamp(u.get(i, 0), umin.get(i, 0), umax.get(i, 0)));
}
return result;
}

2
wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
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@@ -455,7 +455,7 @@ public class PIDController implements Sendable, AutoCloseable {
m_totalError = 0;
} else if (m_ki != 0) {
m_totalError =
MathUtil.clamp(
Math.clamp(
m_totalError + m_error * m_period,
m_minimumIntegral / m_ki,
m_maximumIntegral / m_ki);

3
wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
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@@ -5,7 +5,6 @@
package edu.wpi.first.math.estimator;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -187,7 +186,7 @@ public class PoseEstimator<T> {
// the buffer will always use a timestamp between the first and last timestamps)
double oldestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().firstKey();
double newestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().lastKey();
timestamp = MathUtil.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
timestamp = Math.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
// Step 2: If there are no applicable vision updates, use the odometry-only information.
if (m_visionUpdates.isEmpty() || timestamp < m_visionUpdates.firstKey()) {

3
wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator3d.java
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@@ -5,7 +5,6 @@
package edu.wpi.first.math.estimator;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -199,7 +198,7 @@ public class PoseEstimator3d<T> {
// the buffer will always use a timestamp between the first and last timestamps)
double oldestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().firstKey();
double newestOdometryTimestamp = m_odometryPoseBuffer.getInternalBuffer().lastKey();
timestamp = MathUtil.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
timestamp = Math.clamp(timestamp, oldestOdometryTimestamp, newestOdometryTimestamp);
// Step 2: If there are no applicable vision updates, use the odometry-only information.
if (m_visionUpdates.isEmpty() || timestamp < m_visionUpdates.firstKey()) {

3
wpimath/src/main/java/edu/wpi/first/math/filter/SlewRateLimiter.java
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@@ -5,7 +5,6 @@
package edu.wpi.first.math.filter;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUtil;
/**
* A class that limits the rate of change of an input value. Useful for implementing voltage,
@@ -56,7 +55,7 @@ public class SlewRateLimiter {
double currentTime = MathSharedStore.getTimestamp();
double elapsedTime = currentTime - m_prevTime;
m_prevVal +=
MathUtil.clamp(
Math.clamp(
input - m_prevVal,
m_negativeRateLimit * elapsedTime,
m_positiveRateLimit * elapsedTime);

5
wpimath/src/main/java/edu/wpi/first/math/geometry/Rectangle2d.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.math.geometry;
import static edu.wpi.first.units.Units.Meters;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.proto.Rectangle2dProto;
import edu.wpi.first.math.geometry.struct.Rectangle2dStruct;
import edu.wpi.first.units.measure.Distance;
@@ -217,9 +216,9 @@ public class Rectangle2d implements ProtobufSerializable, StructSerializable {
// Find nearest point
point =
new Translation2d(
MathUtil.clamp(
Math.clamp(
point.getX(), m_center.getX() - m_xWidth / 2.0, m_center.getX() + m_xWidth / 2.0),
MathUtil.clamp(
Math.clamp(
point.getY(), m_center.getY() - m_yWidth / 2.0, m_center.getY() + m_yWidth / 2.0));
// Undo rotation

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
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@@ -12,7 +12,6 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.geometry.proto.Rotation2dProto;
@@ -364,7 +363,7 @@ public class Rotation2d
@Override
public Rotation2d interpolate(Rotation2d endValue, double t) {
return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
return plus(endValue.minus(this).times(Math.clamp(t, 0, 1)));
}
/** Rotation2d protobuf for serialization. */

3
wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
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@@ -12,7 +12,6 @@ import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
import edu.wpi.first.math.MatBuilder;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.Matrix;
import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
@@ -562,7 +561,7 @@ public class Rotation3d
@Override
public Rotation3d interpolate(Rotation3d endValue, double t) {
return plus(endValue.minus(this).times(MathUtil.clamp(t, 0, 1)));
return plus(endValue.minus(this).times(Math.clamp(t, 0, 1)));
}
/** Rotation3d protobuf for serialization. */