trajectory/ballistics/models: Reorganize getters

Moved targetPosRelative and
relativeHorazontalDistance calc and getters into
BallisticModel.java

lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/BallisticModel.java

@@ -3,15 +3,26 @@ package org.fairportrobotics.frc.robolib.trajectory.ballistics.models;
 import org.fairportrobotics.frc.robolib.trajectory.Velocity3d;
 
 import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.units.Units;
+import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.Time;
 
 public abstract class BallisticModel<P> {
     protected Translation3d posLaunch;
     protected Translation3d posTarget;
 
+    protected final Translation3d targetPosRelative;
+    protected final Distance relativeHorizontalDistance;
+
     public BallisticModel(Translation3d posLaunch, Translation3d posTarget) {
         this.posLaunch      = posLaunch;
         this.posTarget      = posTarget;
+
+        this.targetPosRelative = this.posTarget.minus(this.posLaunch);
+        this.relativeHorizontalDistance = Units.Meters.of(Math.hypot(
+            this.targetPosRelative.getMeasureX().in(Units.Meters),
+            this.targetPosRelative.getMeasureY().in(Units.Meters)
+        ));
     }
 
     //
@@ -26,6 +37,14 @@ public abstract class BallisticModel<P> {
         return this.posTarget;
     }
 
+    public Translation3d getTargetPosRelative() {
+        return this.targetPosRelative;
+    }
+
+    public Distance getRelativeHorizontalDistance() {
+        return this.relativeHorizontalDistance;
+    }
+
     //
     //  Parameter Manipulation
     //

lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ParabolicTimeOfFlightBM.java

@@ -20,8 +20,6 @@ public class ParabolicTimeOfFlightBM extends ReversableRadialBM<Time> {
     protected final Time tofMax;
     protected final Time tofStep;
 
-    protected final Translation3d   targetPosRelative;
-    protected final Distance        relativeHorizontalDistance;
     protected final Angle           azimuth;
 
     private HashSet<Double>         computedSeconds;
@@ -38,13 +36,6 @@ public class ParabolicTimeOfFlightBM extends ReversableRadialBM<Time> {
         this.tofStep    = tofStep;
 
         // Pre-compute components
-        this.targetPosRelative = this.posTarget.minus(this.posLaunch);
-        this.relativeHorizontalDistance = Units.Meters.of(
-            Math.hypot(
-                this.targetPosRelative.getMeasureX().in(Units.Meters),
-                this.targetPosRelative.getMeasureY().in(Units.Meters)
-            )
-        );
         this.azimuth = Units.Radians.of(
             Math.atan2(targetPosRelative.getY(), targetPosRelative.getX()
         ));
@@ -61,21 +52,16 @@ public class ParabolicTimeOfFlightBM extends ReversableRadialBM<Time> {
         return this.tofMin;
     }
 
+
     public Time getTOFMax() {
         return this.tofMax;
     }
 
+
     public Time getTOFStep() {
         return this.tofStep;
     }
 
-    public Translation3d getTargetPosRelative() {
-        return this.targetPosRelative;
-    }
-
-    public Distance getRelativeHorizontalDistance() {
-        return this.relativeHorizontalDistance;
-    }
 
     public Angle getAzimuth() {
         return this.azimuth;

lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ReversableRadialBM.java

@@ -74,4 +74,5 @@ public abstract class ReversableRadialBM<P> extends BallisticModel<P> {
     public Time getTimeAtTarget(Velocity3d candidate) {
         return this.getTimeAtX(candidate, posTarget.getMeasureX());
     }
+
 }