From 7b01f013e7278ff37ba1800c1d8fb244531b1b62 Mon Sep 17 00:00:00 2001
From: Ray Healy <raymond.m.healy@gmail.com>
Date: Thu, 26 Feb 2026 20:00:32 -0500
Subject: [PATCH] trajectory/ballistics/models/SimpleBM: Define simple,
 non-reversable BM

---
 .../ballistics/models/SimpleBM.java           | 67 +++++++++++++++++++
 1 file changed, 67 insertions(+)
 create mode 100644 lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/SimpleBM.java

diff --git a/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/SimpleBM.java b/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/SimpleBM.java
new file mode 100644
index 0000000..602386f
--- /dev/null
+++ b/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/SimpleBM.java
@@ -0,0 +1,67 @@
+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.measure.Time;
+
+public class SimpleBM extends BallisticModel<Integer> {
+
+
+    //
+    //  Setup code
+    //
+
+    public SimpleBM() {
+        this(Translation3d.kZero, Translation3d.kZero);
+    }
+
+    public SimpleBM(
+        Translation3d posLaunch,
+        Translation3d posTarget
+    ) {
+        super(posLaunch, posTarget);
+    }
+
+
+    //
+    //  Parameter manipulation
+    //
+
+    public Integer getInitParam() {
+        return 0;
+    }
+
+
+    public Integer[] getNeighborParams(Integer param) {
+        return new Integer[0];
+    }
+
+
+    //
+    //  Velocity modelling
+    //
+
+    public Velocity3d getCandidateVelocity(Integer param) {
+        return Velocity3d.zero;
+    }
+
+
+    public Translation3d positionAtTime(Velocity3d velocity, Time time) {
+        return Translation3d.kZero;
+    }
+
+
+    //
+    //  Candidate tracking
+    //
+
+    public boolean paramComputed(Integer param) {
+        return false;
+    }
+
+
+    public void paramComputedReset() {}
+
+
+}