[UI] Improve undefined-safety when sampling a trajectory. (SleipnirGr…

…oup#1124)
oh-yes-0-fps · Jan 7, 2025 · 7a8e2ba · 7a8e2ba
1 parent e92edd4
commit 7a8e2ba
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Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/src/components/field/svg/FieldEventMarkers.tsx b/src/components/field/svg/FieldEventMarkers.tsx
@@ -54,6 +54,9 @@ class FieldEventMarkers extends Component<Props, State> {
         return [];
       }
       const marked = sample(marker.from.timestamp, path.trajectory.samples);
+      if (marked === undefined) {
+        return <></>;
+      }
       return (
         <FieldEventMarker
           key={marker.uuid}

diff --git a/src/components/field/svg/InterpolatedRobot.tsx b/src/components/field/svg/InterpolatedRobot.tsx
@@ -37,7 +37,7 @@ class InterpolatedRobot extends Component<Props, State> {
       return <></>;
     }
     const pose1 = sample(this.props.timestamp, trajectory);
-
+    if (pose1 === undefined) return <></>;
     const headingPointSideLength =
       targetSideLength *
       Math.min(doc.robotConfig.bumper.length, doc.robotConfig.bumper.width);

diff --git a/src/util/MathUtil.ts b/src/util/MathUtil.ts
@@ -50,8 +50,11 @@ export function interpolate(p1: Pose, p2: Pose, frac: number) {
 export function sample(
   timeSeconds: number,
   m_states: Array<SwerveSample> | Array<DifferentialSample>
-): Pose {
-  if (timeSeconds <= m_states[0].t) {
+): Pose | undefined {
+  if (m_states.length == 0) {
+    return undefined;
+  }
+  if (m_states.length == 1 || timeSeconds <= m_states[0].t) {
     return storeToPose(m_states[0]);
   }
   if (timeSeconds >= m_states[m_states.length - 1].t) {