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[wpimath] Remove units from trapezoid profile classes #7276

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[wpimath] Remove units from trapezoid profile classes #7276

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30 changes: 0 additions & 30 deletions wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,6 @@

import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.PerUnit;
import edu.wpi.first.units.TimeUnit;
import edu.wpi.first.units.Unit;
import java.util.Objects;

/**
Expand Down Expand Up @@ -72,20 +68,6 @@ public Constraints(double maxVelocity, double maxAcceleration) {
this.maxAcceleration = maxAcceleration;
MathSharedStore.reportUsage(MathUsageId.kTrajectory_TrapezoidProfile, 1);
}

/**
* Constructs constraints for a TrapezoidProfile.
*
* @param <U> Unit type.
* @param maxVelocity maximum velocity
* @param maxAcceleration maximum acceleration
*/
public <U extends Unit> Constraints(
Measure<? extends PerUnit<? extends U, TimeUnit>> maxVelocity,
Measure<? extends PerUnit<? extends PerUnit<? extends U, TimeUnit>, TimeUnit>>
maxAcceleration) {
this(maxVelocity.baseUnitMagnitude(), maxAcceleration.baseUnitMagnitude());
}
}

/** Profile state. */
Expand All @@ -110,18 +92,6 @@ public State(double position, double velocity) {
this.velocity = velocity;
}

/**
* Constructs constraints for a Trapezoid Profile.
*
* @param <U> Unit type.
* @param position The position at this state.
* @param velocity The velocity at this state.
*/
public <U extends Unit> State(
Measure<U> position, Measure<? extends PerUnit<? extends U, TimeUnit>> velocity) {
this(position.baseUnitMagnitude(), velocity.baseUnitMagnitude());
}

@Override
public boolean equals(Object other) {
return other instanceof State rhs
Expand Down
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