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trajectory/ballistics/models: Reorganize getters 

Moved targetPosRelative and
relativeHorazontalDistance calc and getters into
BallisticModel.java
This commit is contained in:
Ray Healy 2026-02-14 13:58:31 -05:00
parent ef6a02cffc
commit 66150eea99
3 changed files with 22 additions and 16 deletions
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19
lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/BallisticModel.java
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@ -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
//

18
lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ParabolicTimeOfFlightBM.java
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@ -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;

1
lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ReversableRadialBM.java
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@ -74,4 +74,5 @@ public abstract class ReversableRadialBM<P> extends BallisticModel<P> {
public Time getTimeAtTarget(Velocity3d candidate) {
return this.getTimeAtX(candidate, posTarget.getMeasureX());
}
}