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[wpimath] Remove units from trapezoid profile classes (#7276)

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This commit is contained in:
Sam Carlberg
2024-11-16 10:57:38 -05:00
committed by GitHub
parent 2acf111f56
commit ded7c87d63
1 changed files with 0 additions and 30 deletions
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30
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
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@@ -6,10 +6,6 @@ package edu.wpi.first.math.trajectory;
import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.PerUnit;
import edu.wpi.first.units.TimeUnit;
import edu.wpi.first.units.Unit;
import java.util.Objects;
/**
@@ -72,20 +68,6 @@ public class TrapezoidProfile {
this.maxAcceleration = maxAcceleration;
MathSharedStore.reportUsage(MathUsageId.kTrajectory_TrapezoidProfile, 1);
}
/**
* Constructs constraints for a TrapezoidProfile.
*
* @param <U> Unit type.
* @param maxVelocity maximum velocity
* @param maxAcceleration maximum acceleration
*/
public <U extends Unit> Constraints(
Measure<? extends PerUnit<? extends U, TimeUnit>> maxVelocity,
Measure<? extends PerUnit<? extends PerUnit<? extends U, TimeUnit>, TimeUnit>>
maxAcceleration) {
this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
}
}
/** Profile state. */
@@ -110,18 +92,6 @@ public class TrapezoidProfile {
this.velocity = velocity;
}
/**
* Constructs constraints for a Trapezoid Profile.
*
* @param <U> Unit type.
* @param position The position at this state.
* @param velocity The velocity at this state.
*/
public <U extends Unit> State(
Measure<U> position, Measure<? extends PerUnit<? extends U, TimeUnit>> velocity) {
this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
}
@Override
public boolean equals(Object other) {
return other instanceof State rhs