renamed diffy to differential

SleipnirGroup · Sep 24, 2024 · 62f1c1c · 62f1c1c
1 parent f7fc012
commit 62f1c1c
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Showing 6 changed files with 38 additions and 38 deletions.
diff --git a/...ive/cpp/choreo/trajectory/DiffySample.cpp → .../choreo/trajectory/DifferentialSample.cpp b/...ive/cpp/choreo/trajectory/DiffySample.cpp → .../choreo/trajectory/DifferentialSample.cpp
@@ -1,6 +1,6 @@
 // Copyright (c) Choreo contributors
 
-#include "choreo/trajectory/DiffySample.h"
+#include "choreo/trajectory/DifferentialSample.h"
 
 #include <wpi/MathExtras.h>
 #include <wpi/json.h>
@@ -10,15 +10,15 @@
 
 using namespace choreo::trajectory;
 
-units::second_t DiffySample::GetTimestamp() const {
+units::second_t DifferentialSample::GetTimestamp() const {
   return timestamp;
 }
 
-frc::Pose2d DiffySample::GetPose() const {
+frc::Pose2d DifferentialSample::GetPose() const {
   return frc::Pose2d{x, y, frc::Rotation2d{heading}};
 }
 
-frc::ChassisSpeeds DiffySample::GetChassisSpeeds() const {
+frc::ChassisSpeeds DifferentialSample::GetChassisSpeeds() const {
   return frc::ChassisSpeeds{
       (vl + vr) / 2.0, 0.0_mps,
       (vr - vl) /
@@ -27,18 +27,18 @@ frc::ChassisSpeeds DiffySample::GetChassisSpeeds() const {
           1_rad};
 }
 
-DiffySample DiffySample::OffsetBy(units::second_t timeStampOffset) const {
-  return DiffySample{
+DifferentialSample DifferentialSample::OffsetBy(units::second_t timeStampOffset) const {
+  return DifferentialSample{
       timestamp + timeStampOffset, x, y, heading, vl, vr, al, ar, fl, fr};
 }
 
-DiffySample DiffySample::Interpolate(const DiffySample& endValue,
+DifferentialSample DifferentialSample::Interpolate(const DifferentialSample& endValue,
                                      units::second_t t) const {
   units::scalar_t scale = (t - timestamp) / (endValue.timestamp - timestamp);
   frc::Pose2d interpolatedPose =
       frc::Interpolate(GetPose(), endValue.GetPose(), scale.value());
 
-  return DiffySample{
+  return DifferentialSample{
       wpi::Lerp(timestamp, endValue.timestamp, scale),
       interpolatedPose.X(),
       interpolatedPose.Y(),
@@ -53,7 +53,7 @@ DiffySample DiffySample::Interpolate(const DiffySample& endValue,
 }
 
 void choreo::trajectory::to_json(wpi::json& json,
-                                 const DiffySample& trajSample) {
+                                 const DifferentialSample& trajSample) {
   json = wpi::json{{"t", trajSample.timestamp.value()},
                    {"x", trajSample.x.value()},
                    {"y", trajSample.y.value()},
@@ -67,7 +67,7 @@ void choreo::trajectory::to_json(wpi::json& json,
 }
 
 void choreo::trajectory::from_json(const wpi::json& json,
-                                   DiffySample& trajSample) {
+                                   DifferentialSample& trajSample) {
   trajSample.timestamp = units::second_t{json.at("t").get<double>()};
   trajSample.x = units::meter_t{json.at("x").get<double>()};
   trajSample.y = units::meter_t{json.at("y").get<double>()};

diff --git a/choreolib/src/main/native/cpp/choreo/trajectory/Trajectory.cpp b/choreolib/src/main/native/cpp/choreo/trajectory/Trajectory.cpp
@@ -23,16 +23,16 @@ void choreo::trajectory::from_json(const wpi::json& json,
 }
 
 void choreo::trajectory::to_json(wpi::json& json,
-                                 const Trajectory<DiffySample>& traj) {
+                                 const Trajectory<DifferentialSample>& traj) {
   json = wpi::json{{"name", traj.name},
                    {"samples", traj.samples},
                    {"splits", traj.splits},
                    {"events", traj.events}};
 }
 
 void choreo::trajectory::from_json(const wpi::json& json,
-                                   Trajectory<DiffySample>& traj) {
-  traj.samples = json.at("traj").at("samples").get<std::vector<DiffySample>>();
+                                   Trajectory<DifferentialSample>& traj) {
+  traj.samples = json.at("traj").at("samples").get<std::vector<DifferentialSample>>();
   traj.splits = json.at("traj").at("splits").get<std::vector<int>>();
   traj.events = json.at("events").get<std::vector<EventMarker>>();
 }
diff --git a/...o/trajectory/struct/DiffySampleStruct.cpp → ...ctory/struct/DifferentialSampleStruct.cpp b/...o/trajectory/struct/DiffySampleStruct.cpp → ...ctory/struct/DifferentialSampleStruct.cpp
@@ -1,6 +1,6 @@
 // Copyright (c) Choreo contributors
 
-#include "choreo/trajectory/struct/DiffySampleStruct.h"
+#include "choreo/trajectory/struct/DifferentialSampleStruct.h"
 
 namespace {
 constexpr size_t kTimestampOff = 0;
@@ -15,11 +15,11 @@ constexpr size_t kFlOff = kArOff + 8;
 constexpr size_t kFrOff = kFlOff + 8;
 }  // namespace
 
-using StructType = wpi::Struct<choreo::trajectory::DiffySample>;
+using StructType = wpi::Struct<choreo::trajectory::DifferentialSample>;
 
-choreo::trajectory::DiffySample StructType::Unpack(
+choreo::trajectory::DifferentialSample StructType::Unpack(
     std::span<const uint8_t> data) {
-  return choreo::trajectory::DiffySample{
+  return choreo::trajectory::DifferentialSample{
       units::second_t{wpi::UnpackStruct<double, kTimestampOff>(data)},
       units::meter_t{wpi::UnpackStruct<double, kXOff>(data)},
       units::meter_t{wpi::UnpackStruct<double, kYOff>(data)},
@@ -35,7 +35,7 @@ choreo::trajectory::DiffySample StructType::Unpack(
 }
 
 void StructType::Pack(std::span<uint8_t> data,
-                      const choreo::trajectory::DiffySample& value) {
+                      const choreo::trajectory::DifferentialSample& value) {
   wpi::PackStruct<kTimestampOff>(data, value.timestamp.value());
   wpi::PackStruct<kXOff>(data, value.x.value());
   wpi::PackStruct<kYOff>(data, value.y.value());

diff --git a/...e/include/choreo/trajectory/DiffySample.h → ...de/choreo/trajectory/DifferentialSample.h b/...e/include/choreo/trajectory/DiffySample.h → ...de/choreo/trajectory/DifferentialSample.h
@@ -19,10 +19,10 @@
 
 namespace choreo {
 namespace trajectory {
-class DiffySample {
+class DifferentialSample {
  public:
-  DiffySample() = default;
-  DiffySample(units::second_t timestamp, units::meter_t x, units::meter_t y,
+  DifferentialSample() = default;
+  DifferentialSample(units::second_t timestamp, units::meter_t x, units::meter_t y,
               units::radian_t heading, units::meters_per_second_t vl,
               units::meters_per_second_t vr,
               units::meters_per_second_squared_t al,
@@ -42,10 +42,10 @@ class DiffySample {
   frc::Pose2d GetPose() const;
   frc::ChassisSpeeds GetChassisSpeeds() const;
   template <int Year>
-  DiffySample Flipped() const {
+  DifferentialSample Flipped() const {
     static constexpr auto flipper = choreo::util::GetFlipperForYear<Year>();
     if constexpr (flipper.isMirrored) {
-        return DiffySample(timestamp,
+        return DifferentialSample(timestamp,
         flipper.FlipX(x),
         y,
         flipper.FlipHeading(heading),
@@ -56,7 +56,7 @@ class DiffySample {
         fl,
         fr);
     } else {
-        return DiffySample(timestamp,
+        return DifferentialSample(timestamp,
         flipper.FlipX(x),
         flipper.FlipY(y),
         flipper.FlipHeading(heading),
@@ -68,8 +68,8 @@ class DiffySample {
         fl);
     }
   }
-  DiffySample OffsetBy(units::second_t timeStampOffset) const;
-  DiffySample Interpolate(const DiffySample& endValue, units::second_t t) const;
+  DifferentialSample OffsetBy(units::second_t timeStampOffset) const;
+  DifferentialSample Interpolate(const DifferentialSample& endValue, units::second_t t) const;
 
   units::second_t timestamp = 0_s;
   units::meter_t x = 0_m;
@@ -83,9 +83,9 @@ class DiffySample {
   units::newton_t fr = 0_N;
 };
 
-void to_json(wpi::json& json, const DiffySample& trajSample);
-void from_json(const wpi::json& json, DiffySample& trajSample);
+void to_json(wpi::json& json, const DifferentialSample& trajSample);
+void from_json(const wpi::json& json, DifferentialSample& trajSample);
 }  // namespace trajectory
 }  // namespace choreo
 
-#include "choreo/trajectory/struct/DiffySampleStruct.h"
+#include "choreo/trajectory/struct/DifferentialSampleStruct.h"
diff --git a/choreolib/src/main/native/include/choreo/trajectory/Trajectory.h b/choreolib/src/main/native/include/choreo/trajectory/Trajectory.h
@@ -10,7 +10,7 @@
 
 #include <wpi/json_fwd.h>
 
-#include "choreo/trajectory/DiffySample.h"
+#include "choreo/trajectory/DifferentialSample.h"
 #include "choreo/trajectory/EventMarker.h"
 #include "choreo/trajectory/SwerveSample.h"
 #include "choreo/trajectory/TrajSample.h"
@@ -182,7 +182,7 @@ class Trajectory {
 void to_json(wpi::json& json, const Trajectory<SwerveSample>& traj);
 void from_json(const wpi::json& json, Trajectory<SwerveSample>& traj);
 
-void to_json(wpi::json& json, const Trajectory<DiffySample>& traj);
-void from_json(const wpi::json& json, Trajectory<DiffySample>& traj);
+void to_json(wpi::json& json, const Trajectory<DifferentialSample>& traj);
+void from_json(const wpi::json& json, Trajectory<DifferentialSample>& traj);
 }  // namespace trajectory
 }  // namespace choreo
diff --git a/...reo/trajectory/struct/DiffySampleStruct.h → ...jectory/struct/DifferentialSampleStruct.h b/...reo/trajectory/struct/DiffySampleStruct.h → ...jectory/struct/DifferentialSampleStruct.h
@@ -5,20 +5,20 @@
 #include <wpi/SymbolExports.h>
 #include <wpi/struct/Struct.h>
 
-#include "choreo/trajectory/DiffySample.h"
+#include "choreo/trajectory/DifferentialSample.h"
 
 template <>
-struct wpi::Struct<choreo::trajectory::DiffySample> {
-  static constexpr std::string_view GetTypeName() { return "DiffySample"; }
+struct wpi::Struct<choreo::trajectory::DifferentialSample> {
+  static constexpr std::string_view GetTypeName() { return "DifferentialSample"; }
   static constexpr size_t GetSize() { return 80; }
   static constexpr std::string_view GetSchema() {
     return "double timestamp;double x;double y;double heading;double vl;double "
            "vr;double al;double ar;double fl;double fr;";
   }
 
-  static choreo::trajectory::DiffySample Unpack(std::span<const uint8_t> data);
+  static choreo::trajectory::DifferentialSample Unpack(std::span<const uint8_t> data);
   static void Pack(std::span<uint8_t> data,
-                   const choreo::trajectory::DiffySample& value);
+                   const choreo::trajectory::DifferentialSample& value);
 };
 
-static_assert(wpi::StructSerializable<choreo::trajectory::DiffySample>);
+static_assert(wpi::StructSerializable<choreo::trajectory::DifferentialSample>);