@Test public void testAccuracy() { IVector2 pos = Vector2.fromXY(-677.6483764648438, 0.011869861744344234); IVector2 dest = Vector2.fromXY(-186.5, -0.0); IVector2 vel1 = Vector2.fromXY(0.09700202941894531, 4.835854306293186E-4); IVector2 vel2 = Vector2.fromXY(0.09700202941894531, 0); BangBangTrajectory2D traj1 = new BangBangTrajectory2D( pos.multiplyNew(1e-3f), dest.multiplyNew(1e-3f), vel1, 2.0, 2.0); BangBangTrajectory2D traj2 = new BangBangTrajectory2D( pos.multiplyNew(1e-3f), dest.multiplyNew(1e-3f), vel2, 2.0, 2.0); assertThat(traj1.getTotalTime()).isCloseTo(traj2.getTotalTime(), within(1e-4)); }
@Override public double getTotalTime() { return Math.max(x.getTotalTime(), y.getTotalTime()); }
BangBangTrajectory2D implements ITrajectory<IVector2>, IPlanarCurveProvider { @Override public double getTotalTime() { return Math.max(x.getTotalTime(), y.getTotalTime()); } }
BangBangTrajectory2D implements ITrajectory<IVector2>, IPlanarCurveProvider { @Override public double getTotalTime() { return Math.max(x.getTotalTime(), y.getTotalTime()); } @SuppressWarnings("unused") protected  BangBangTrajectory2D(); protected  BangBangTrajectory2D(final BangBangTrajectory1D x, final BangBangTrajectory1D y);   BangBangTrajectory2D(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc,
			final double alpha);  BangBangTrajectory2D(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc); }
BangBangTrajectory2D implements ITrajectory<IVector2>, IPlanarCurveProvider { @Override public double getTotalTime() { return Math.max(x.getTotalTime(), y.getTotalTime()); } @SuppressWarnings("unused") protected  BangBangTrajectory2D(); protected  BangBangTrajectory2D(final BangBangTrajectory1D x, final BangBangTrajectory1D y);   BangBangTrajectory2D(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc,
			final double alpha);  BangBangTrajectory2D(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc); BangBangTrajectory1D getX(); BangBangTrajectory1D getY(); @Override Vector2 getPositionMM(final double t); @Override Vector2 getPosition(final double t); @Override Vector2 getVelocity(final double t); @Override Vector2 getAcceleration(final double t); @Override double getTotalTime(); @Override PlanarCurve getPlanarCurve(); double getAlpha(); void updateTrajectory(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc); @Override String toString(); @Override BangBangTrajectory2D mirrored(); }
BangBangTrajectory2D implements ITrajectory<IVector2>, IPlanarCurveProvider { @Override public double getTotalTime() { return Math.max(x.getTotalTime(), y.getTotalTime()); } @SuppressWarnings("unused") protected  BangBangTrajectory2D(); protected  BangBangTrajectory2D(final BangBangTrajectory1D x, final BangBangTrajectory1D y);   BangBangTrajectory2D(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc,
			final double alpha);  BangBangTrajectory2D(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc); BangBangTrajectory1D getX(); BangBangTrajectory1D getY(); @Override Vector2 getPositionMM(final double t); @Override Vector2 getPosition(final double t); @Override Vector2 getVelocity(final double t); @Override Vector2 getAcceleration(final double t); @Override double getTotalTime(); @Override PlanarCurve getPlanarCurve(); double getAlpha(); void updateTrajectory(final IVector2 initialPos,
			final IVector2 finalPos,
			final IVector2 initialVel,
			final double maxVel,
			final double maxAcc); @Override String toString(); @Override BangBangTrajectory2D mirrored();  }