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src/robolib/trajectory/ballistics: BCResult Combines Penalty and BCEvalParams

This commit is contained in:
Ray Healy 2026-02-10 19:39:18 -05:00
parent 7c7b44d3e4
commit f8cfd19747
1 changed files with 9 additions and 15 deletions
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24
lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/BCResult.java
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@ -1,27 +1,21 @@
package org.fairportrobotics.frc.robolib.trajectory.ballistics.calculators;
import org.fairportrobotics.frc.robolib.trajectory.Velocity3d;
import org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints.BCEvalParams;
public class BCResult<P> {
public final Double velPenalty; /// The penalty for the computed launcher velocity (null if invalid)
public final Velocity3d velGlobal; /// The computed launcher velocity (in the global coorinate space)
public final Velocity3d velRelative; /// The computed launcher velocity (in the robot-relative coordinate space)
public final P velParam; /// The model parameter that yielded velGlobal
public class BCResult {
public final Double penalty; /// The penalty for the computed launcher velocity (null if invalid)
public final BCEvalParams evalParams; /// The BCEvalParams instance that produced the best penalty
public BCResult(
Double velPenalty,
Velocity3d velGlobal,
Velocity3d velRelative,
P velParam
Double penalty,
BCEvalParams evalParams
) {
this.velPenalty = velPenalty;
this.velGlobal = velGlobal;
this.velRelative = velRelative;
this.velParam = velParam;
this.penalty = penalty;
this.evalParams = evalParams;
}
public boolean isValid() {
return this.velPenalty != null;
return this.penalty != null;
}
}