[wpimath] Fix trapezoid profile#8556
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There's merge conflicts in the Python tests. |
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Closes #7917.
This PR rewrites the trapezoid profile implementations in WPILib to use a phase space formulation. In doing so, the API is updated to match the exponential profile implementations. The following changes to functionality have been made:
TimeLeftUntilmethod has been updated to take two states instead of a distance from the last state passed into theCalculatemethod. This functionality matches that of the exponential profile.The tests have been updated to check for these bugs and to reflect the API change. The algorithm used in the new implementation has been documented in TrapezoidProfile.md.
Additionally, the LinearSystemLoopTest.java file has been updated to properly use the TrapezoidProfile class.