lib/RoboLib/ballistics/constraints:

BallisticConstraint.evaluate() may throw
BallisticException

lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/BallisticCalculator.java

@@ -5,6 +5,7 @@ import java.util.ArrayList;
 import org.fairportrobotics.frc.robolib.trajectory.Velocity3d;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints.BCEvalParams;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints.BallisticConstraint;
+import org.fairportrobotics.frc.robolib.trajectory.ballistics.exceptions.BallisticException;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.models.BallisticModel;
 
 import edu.wpi.first.units.measure.Angle;
@@ -53,7 +54,7 @@ public abstract class BallisticCalculator {
         Velocity3d  robotVelocity,
         Angle       robotAngle,
         Velocity3d  shooterVelocity
-    ) {
+    ) throws BallisticException {
         return this.computeSolution(
             model, model.getInitParam(), robotVelocity, robotAngle, shooterVelocity
         );
@@ -78,7 +79,7 @@ public abstract class BallisticCalculator {
         Velocity3d  robotVelocity,
         Angle       robotAngle,
         Velocity3d  shooterVelocity
-    );
+    ) throws BallisticException;
 
 
     /**
@@ -93,7 +94,7 @@ public abstract class BallisticCalculator {
      */
     protected <M extends BallisticModel<P>, P> Double evaluateCandidate(
         M model, BCEvalParams evalParams
-    ) {
+    ) throws BallisticException {
         // Get the weight component for velocity difference
         Velocity3d velShooterDiff =
             evalParams.getCandidateShooterVelocity().minus(evalParams.getCurrentShooterVelocity());

lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/GreedyBallisticCalculator.java

@@ -5,6 +5,7 @@ import java.util.LinkedList;
 
 import org.fairportrobotics.frc.robolib.trajectory.Velocity3d;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints.BCEvalParams;
+import org.fairportrobotics.frc.robolib.trajectory.ballistics.exceptions.BallisticException;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.models.BallisticModel;
 
 import edu.wpi.first.units.measure.Angle;
@@ -21,7 +22,7 @@ public class GreedyBallisticCalculator extends BallisticCalculator {
         Velocity3d  robotVelocity,
         Angle       robotAngle,
         Velocity3d  shooterVelocity
-    ) {
+    ) throws BallisticException {
         model.paramComputedReset();
 
         LinkedList<P> candidate_params = new LinkedList<>();

lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/HillDescentBallisticCalculator.java

@@ -2,6 +2,7 @@ package org.fairportrobotics.frc.robolib.trajectory.ballistics.calculators;
 
 import org.fairportrobotics.frc.robolib.trajectory.Velocity3d;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints.BCEvalParams;
+import org.fairportrobotics.frc.robolib.trajectory.ballistics.exceptions.BallisticException;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.models.BallisticModel;
 
 import edu.wpi.first.units.measure.Angle;
@@ -18,7 +19,7 @@ public class HillDescentBallisticCalculator extends BallisticCalculator {
         Velocity3d  robotVelocity,
         Angle       robotAngle,
         Velocity3d  shooterVelocity
-    ) {
+    ) throws BallisticException {
         Velocity3d candidateVelocity    = model.getCandidateVelocity(modelParam);
         BCEvalParams evalParams         = new BCEvalParams(robotVelocity, robotAngle, shooterVelocity, candidateVelocity);
         return new BCResult(this.evaluateCandidate(model, evalParams), evalParams);
@@ -30,7 +31,7 @@ public class HillDescentBallisticCalculator extends BallisticCalculator {
         Velocity3d  robotVelocity,
         Angle       robotAngle,
         Velocity3d  shooterVelocity
-    ) {
+    ) throws BallisticException {
         model.paramComputedReset();
 
         P           bestParam           = initParam;

lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BallisticConstraint.java

@@ -1,8 +1,8 @@
 package org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints;
 
+import org.fairportrobotics.frc.robolib.trajectory.ballistics.exceptions.BallisticException;
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.models.BallisticModel;
 
-
 public abstract class BallisticConstraint {
     protected double weight;
 
@@ -51,5 +51,5 @@ public abstract class BallisticConstraint {
      */
     public abstract <M extends BallisticModel<P>, P> Double evaluate(
         M model, BCEvalParams evalParams
-    );
+    ) throws BallisticException;
 }