[wpimath] Clean up profile classes (wpilibsuite#6311)

* Reorder functions so they match between languages * Copy more complete JavaDocs to C++ * Fix incorrect description for time parameter of TrapezoidProfile.calculate()
KangarooKoala · Jan 26, 2024 · 68736d8 · 68736d8
1 parent d895a0c
commit 68736d8
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diff --git a/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java b/wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
@@ -81,7 +81,7 @@ public static class Constraints {
     public final double B;
 
     /**
-     * Construct constraints for an ExponentialProfile.
+     * Constructs constraints for an ExponentialProfile.
      *
      * @param maxInput maximum unsigned input voltage
      * @param A The State-Space 1x1 system matrix.
@@ -103,7 +103,7 @@ public double maxVelocity() {
     }
 
     /**
-     * Construct constraints for an ExponentialProfile from characteristics.
+     * Constructs constraints for an ExponentialProfile from characteristics.
      *
      * @param maxInput maximum unsigned input voltage
      * @param kV The velocity gain.
@@ -115,7 +115,7 @@ public static Constraints fromCharacteristics(double maxInput, double kV, double
     }
 
     /**
-     * Construct constraints for an ExponentialProfile from State-Space parameters.
+     * Constructs constraints for an ExponentialProfile from State-Space parameters.
      *
      * @param maxInput maximum unsigned input voltage
      * @param A The State-Space 1x1 system matrix.
@@ -139,7 +139,7 @@ public static class State {
     public State() {}
 
     /**
-     * Construct a state within an exponential profile.
+     * Constructs a state within an exponential profile.
      *
      * @param position The position at this state.
      * @param velocity The velocity at this state.
@@ -166,7 +166,7 @@ public int hashCode() {
   }
 
   /**
-   * Construct an ExponentialProfile.
+   * Constructs an ExponentialProfile.
    *
    * @param constraints The constraints on the profile, like maximum input.
    */
@@ -175,10 +175,10 @@ public ExponentialProfile(Constraints constraints) {
   }
 
   /**
-   * Calculate the correct position and velocity for the profile at a time t where the current state
-   * is at time t = 0.
+   * Calculates the position and velocity for the profile at a time t where the current state is at
+   * time t = 0.
    *
-   * @param t The time since the beginning of the profile.
+   * @param t How long to advance from the current state toward the desired state.
    * @param current The current state.
    * @param goal The desired state when the profile is complete.
    * @return The position and velocity of the profile at time t.
@@ -205,7 +205,7 @@ public State calculate(double t, State current, State goal) {
   }
 
   /**
-   * Calculate the point after which the fastest way to reach the goal state is to apply input in
+   * Calculates the point after which the fastest way to reach the goal state is to apply input in
    * the opposite direction.
    *
    * @param current The current state.
@@ -220,7 +220,7 @@ public State calculateInflectionPoint(State current, State goal) {
   }
 
   /**
-   * Calculate the point after which the fastest way to reach the goal state is to apply input in
+   * Calculates the point after which the fastest way to reach the goal state is to apply input in
    * the opposite direction.
    *
    * @param current The current state.
@@ -242,7 +242,7 @@ private State calculateInflectionPoint(State current, State goal, double input)
   }
 
   /**
-   * Calculate the time it will take for this profile to reach the goal state.
+   * Calculates the time it will take for this profile to reach the goal state.
    *
    * @param current The current state.
    * @param goal The desired state when the profile is complete.
@@ -255,8 +255,8 @@ public double timeLeftUntil(State current, State goal) {
   }
 
   /**
-   * Calculate the time it will take for this profile to reach the inflection point, and the time it
-   * will take for this profile to reach the goal state.
+   * Calculates the time it will take for this profile to reach the inflection point, and the time
+   * it will take for this profile to reach the goal state.
    *
    * @param current The current state.
    * @param goal The desired state when the profile is complete.
@@ -271,8 +271,8 @@ public ProfileTiming calculateProfileTiming(State current, State goal) {
   }
 
   /**
-   * Calculate the time it will take for this profile to reach the inflection point, and the time it
-   * will take for this profile to reach the goal state.
+   * Calculates the time it will take for this profile to reach the inflection point, and the time
+   * it will take for this profile to reach the goal state.
    *
    * @param current The current state.
    * @param inflectionPoint The inflection point of this profile.
@@ -332,7 +332,7 @@ private ProfileTiming calculateProfileTiming(
   }
 
   /**
-   * Calculate the position reached after t seconds when applying an input from the initial state.
+   * Calculates the position reached after t seconds when applying an input from the initial state.
    *
    * @param t The time since the initial state.
    * @param input The signed input applied to this profile from the initial state.
@@ -349,7 +349,7 @@ private double computeDistanceFromTime(double t, double input, State initial) {
   }
 
   /**
-   * Calculate the velocity reached after t seconds when applying an input from the initial state.
+   * Calculates the velocity reached after t seconds when applying an input from the initial state.
    *
    * @param t The time since the initial state.
    * @param input The signed input applied to this profile from the initial state.
@@ -365,7 +365,7 @@ private double computeVelocityFromTime(double t, double input, State initial) {
   }
 
   /**
-   * Calculate the time required to reach a specified velocity given the initial velocity.
+   * Calculates the time required to reach a specified velocity given the initial velocity.
    *
    * @param velocity The goal velocity.
    * @param input The signed input applied to this profile from the initial state.
@@ -381,7 +381,7 @@ private double computeTimeFromVelocity(double velocity, double input, double ini
   }
 
   /**
-   * Calculate the distance reached at the same time as the given velocity when applying the given
+   * Calculates the distance reached at the same time as the given velocity when applying the given
    * input from the initial state.
    *
    * @param velocity The velocity reached by this profile
@@ -400,7 +400,7 @@ private double computeDistanceFromVelocity(double velocity, double input, State
   }
 
   /**
-   * Calculate the velocity at which input should be reversed in order to reach the goal state from
+   * Calculates the velocity at which input should be reversed in order to reach the goal state from
    * the current state.
    *
    * @param input The signed input applied to this profile from the current state.

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
@@ -63,7 +63,7 @@ public static class Constraints {
     public final double maxAcceleration;
 
     /**
-     * Construct constraints for a TrapezoidProfile.
+     * Constructs constraints for a TrapezoidProfile.
      *
      * @param maxVelocity maximum velocity
      * @param maxAcceleration maximum acceleration
@@ -75,7 +75,7 @@ public Constraints(double maxVelocity, double maxAcceleration) {
     }
 
     /**
-     * Construct constraints for a TrapezoidProfile.
+     * Constructs constraints for a TrapezoidProfile.
      *
      * @param <U> Unit type.
      * @param maxVelocity maximum velocity
@@ -137,7 +137,7 @@ public int hashCode() {
   }
 
   /**
-   * Construct a TrapezoidProfile.
+   * Constructs a TrapezoidProfile.
    *
    * @param constraints The constraints on the profile, like maximum velocity.
    */
@@ -147,7 +147,7 @@ public TrapezoidProfile(Constraints constraints) {
   }
 
   /**
-   * Construct a TrapezoidProfile.
+   * Constructs a TrapezoidProfile.
    *
    * @param constraints The constraints on the profile, like maximum velocity.
    * @param goal The desired state when the profile is complete.
@@ -197,7 +197,7 @@ public TrapezoidProfile(Constraints constraints, State goal, State initial) {
   }
 
   /**
-   * Construct a TrapezoidProfile.
+   * Constructs a TrapezoidProfile.
    *
    * @param constraints The constraints on the profile, like maximum velocity.
    * @param goal The desired state when the profile is complete.
@@ -210,10 +210,10 @@ public TrapezoidProfile(Constraints constraints, State goal) {
   }
 
   /**
-   * Calculate the correct position and velocity for the profile at a time t where the beginning of
-   * the profile was at time t = 0.
+   * Calculates the position and velocity for the profile at a time t where the current state is at
+   * time t = 0.
    *
-   * @param t The time since the beginning of the profile.
+   * @param t How long to advance from the current state toward the desired state.
    * @return The position and velocity of the profile at time t.
    * @deprecated Pass the desired and current state into calculate instead of constructing a new
    *     TrapezoidProfile with the desired and current state
@@ -247,10 +247,10 @@ public State calculate(double t) {
   }
 
   /**
-   * Calculate the correct position and velocity for the profile at a time t where the beginning of
-   * the profile was at time t = 0.
+   * Calculates the position and velocity for the profile at a time t where the current state is at
+   * time t = 0.
    *
-   * @param t The time since the beginning of the profile.
+   * @param t How long to advance from the current state toward the desired state.
    * @param current The current state.
    * @param goal The desired state when the profile is complete.
    * @return The position and velocity of the profile at time t.