From 3bd243f68979501c2fe92f4bfc3e5205a9d36d94 Mon Sep 17 00:00:00 2001
From: Ray Healy <raymond.m.healy@gmail.com>
Date: Tue, 10 Feb 2026 16:00:39 -0500
Subject: [PATCH] src/robolib/trajectory/ballistics/constraints: Define base
 class for constraints

---
 .../constraints/BallisticConstraint.java      | 55 +++++++++++++++++++
 1 file changed, 55 insertions(+)
 create mode 100644 lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BallisticConstraint.java

diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BallisticConstraint.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BallisticConstraint.java
new file mode 100644
index 0000000..c473446
--- /dev/null
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BallisticConstraint.java
@@ -0,0 +1,55 @@
+package org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints;
+
+import org.fairportrobotics.frc.robolib.trajectory.Velocity3d;
+import org.fairportrobotics.frc.robolib.trajectory.ballistics.models.BallisticModel;
+
+public abstract class BallisticConstraint {
+    protected double weight;
+
+    /**
+     * Generate the constraint with weight 0.0
+     */
+    public BallisticConstraint() {
+        this(0.0);
+    }
+
+    /**
+     * Generate the constraint with a given weight value
+     * @param weight The weight of this constraint's penalty
+     */
+    public BallisticConstraint(double weight) {
+        this.weight = weight;
+    }
+
+    /**
+     * Set the weight of this constraint
+     * @param weight The weight of the constraint
+     * @return this
+     */
+    public BallisticConstraint setWeight(double weight) {
+        this.weight = weight;
+        return this;
+    }
+
+    /**
+     * @return The weight of this constraint
+     */
+    public double getWeight() {
+        return this.weight;
+    }
+
+
+    /**
+     * Evaluate a given solution's fitness against this constraint
+     *
+     * TODO: Expand this with additional parameters
+     *
+     * @param <M> The type of BallisticModel
+     * @param <P> The parameter type of M
+     * @param model The model used to compute candidate
+     * @param candidate The candidate velocity computed by model
+     * @return A penalty value (from 0 to 1.0) for this match (null if candidate
+     *  is invalid). Used with weight to determine candidate fitness
+     */
+    public abstract <M extends BallisticModel<P>, P> Double evaluate(M model, Velocity3d candidate);
+}