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src/robolib/trajectory/Velocity3d.java: Tweaks 

- getSquareMagnitude() returns double in
m^2s^-2 (no pre-defined unit)
- define getVeritcalVelocity() as an alias of getVZ()
This commit is contained in:
Ray Healy 2026-02-10 17:02:07 -05:00
parent 3bd243f689
commit d43b337f1e
1 changed files with 20 additions and 12 deletions
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32
lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/Velocity3d.java
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@ -11,7 +11,7 @@ public class Velocity3d {
private final LinearVelocity vY;
private final LinearVelocity vZ;
private LinearVelocity cache_squareMagnitudeVelocity;
private Double cache_squareMagnitudeVelocity;
private LinearVelocity cache_magnitudeVelocity;
private Angle cache_eleveationAngle;
private Angle cache_azimuthAngle;
@ -22,10 +22,11 @@ public class Velocity3d {
this.vY = vY.copy();
this.vZ = vZ.copy();
this.cache_magnitudeVelocity = null;
this.cache_eleveationAngle = null;
this.cache_azimuthAngle = null;
this.cache_horizontalVelocity = null;
this.cache_squareMagnitudeVelocity = null;
this.cache_magnitudeVelocity = null;
this.cache_eleveationAngle = null;
this.cache_azimuthAngle = null;
this.cache_horizontalVelocity = null;
}
@ -89,16 +90,16 @@ public class Velocity3d {
/**
* @return The squared magnitude of the velocity vector
* @return The squared magnitude of the velocity vector in m^2s^-2
*/
public LinearVelocity getSquareMagnitude() {
public double getSquareMagnitude() {
if(this.cache_squareMagnitudeVelocity == null) {
double vX_mps = this.vX.in(Units.MetersPerSecond);
double vY_mps = this.vY.in(Units.MetersPerSecond);
double vZ_mps = this.vZ.in(Units.MetersPerSecond);
this.cache_magnitudeVelocity = Units.MetersPerSecond.of(
Math.pow(vX_mps, 2) + Math.pow(vY_mps, 2) + Math.pow(vZ_mps, 2)
);
this.cache_squareMagnitudeVelocity = Math.pow(vX_mps, 2) +
Math.pow(vY_mps, 2) +
Math.pow(vZ_mps, 2);
}
return this.cache_squareMagnitudeVelocity;
}
@ -109,7 +110,7 @@ public class Velocity3d {
public LinearVelocity getMagnitude() {
if(this.cache_magnitudeVelocity == null) {
this.cache_magnitudeVelocity = Units.MetersPerSecond.of(Math.pow(
this.getSquareMagnitude().in(Units.MetersPerSecond), 0.5
this.getSquareMagnitude(), 0.5
));
}
return this.cache_magnitudeVelocity;
@ -120,9 +121,16 @@ public class Velocity3d {
// Cylindrical Coordinate getters
//
/**
* @return The magnitude of the vertical component of the velocity (alias of this.getVZ())
*/
public LinearVelocity getVeritcalVelocity() {
return this.getVZ();
}
/**
* @return The the magnitude of the horizontal component of the velocity
* @return The magnitude of the horizontal component of the velocity
*/
public LinearVelocity getHorizontalVelocity() {
if (this.cache_horizontalVelocity == null) {