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[wpimath] Fix TrapezoidProfile limiting velocity incorrectly (#8030)

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This commit is contained in:
ThePixelatedCat
2025-06-25 15:36:53 +10:00
committed by GitHub
parent ddc5220ed4
commit ffe296892c
4 changed files with 104 additions and 8 deletions
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12
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
View File

@@ -60,10 +60,14 @@ public class TrapezoidProfile {
/**
* Constructs constraints for a TrapezoidProfile.
*
* @param maxVelocity maximum velocity
* @param maxAcceleration maximum acceleration
* @param maxVelocity Maximum velocity, must be non-negative.
* @param maxAcceleration Maximum acceleration, must be non-negative.
*/
public Constraints(double maxVelocity, double maxAcceleration) {
if (maxVelocity < 0.0 || maxAcceleration < 0.0) {
throw new IllegalArgumentException("Constraints must be non-negative");
}
this.maxVelocity = maxVelocity;
this.maxAcceleration = maxAcceleration;
MathSharedStore.reportUsage(MathUsageId.kTrajectory_TrapezoidProfile, 1);
@@ -128,8 +132,8 @@ public class TrapezoidProfile {
m_current = direct(current);
goal = direct(goal);
if (m_current.velocity > m_constraints.maxVelocity) {
m_current.velocity = m_constraints.maxVelocity;
if (Math.abs(m_current.velocity) > m_constraints.maxVelocity) {
m_current.velocity = Math.copySign(m_constraints.maxVelocity, m_current.velocity);
}
// Deal with a possibly truncated motion profile (with nonzero initial or

13
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
View File

@@ -77,8 +77,8 @@ class TrapezoidProfile {
/**
* Constructs constraints for a Trapezoid Profile.
*
* @param maxVelocity Maximum velocity.
* @param maxAcceleration Maximum acceleration.
* @param maxVelocity Maximum velocity, must be non-negative.
* @param maxAcceleration Maximum acceleration, must be non-negative.
*/
constexpr Constraints(Velocity_t maxVelocity,
Acceleration_t maxAcceleration)
@@ -87,6 +87,10 @@ class TrapezoidProfile {
wpi::math::MathSharedStore::ReportUsage(
wpi::math::MathUsageId::kTrajectory_TrapezoidProfile, 1);
}
if (maxVelocity < Velocity_t{0} || maxAcceleration < Acceleration_t{0}) {
throw std::domain_error("Constraints must be non-negative");
}
}
};
@@ -131,8 +135,9 @@ class TrapezoidProfile {
m_direction = ShouldFlipAcceleration(current, goal) ? -1 : 1;
m_current = Direct(current);
goal = Direct(goal);
if (m_current.velocity > m_constraints.maxVelocity) {
m_current.velocity = m_constraints.maxVelocity;
if (units::math::abs(m_current.velocity) > m_constraints.maxVelocity) {
m_current.velocity =
units::math::copysign(m_constraints.maxVelocity, m_current.velocity);
}
// Deal with a possibly truncated motion profile (with nonzero initial or