fix all java build warnings (#380)

pathplannerlib/build.gradle

@@ -153,6 +153,7 @@ spotless {
 }
 
 javadoc {
+    exclude 'org/json/simple/**'
     options {
         links 'https://docs.oracle.com/en/java/javase/11/docs/api/', 'https://github.wpilib.org/allwpilib/docs/release/java/'
     }

pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilder.java

@@ -26,6 +26,7 @@
 import org.json.simple.JSONObject;
 import org.json.simple.parser.JSONParser;
 
+/** Utility class used to build auto routines */
 public class AutoBuilder {
   private static boolean configured = false;
 
@@ -279,6 +280,12 @@ public static Command followPathWithEvents(PathPlannerPath path) {
     return new FollowPathWithEvents(pathFollowingCommandBuilder.apply(path), path, getPose);
   }
 
+  /**
+   * Get the starting pose from its JSON representation. This is only used internally.
+   *
+   * @param startingPoseJson JSON object representing a starting pose.
+   * @return The Pose2d starting pose
+   */
   public static Pose2d getStartingPoseFromJson(JSONObject startingPoseJson) {
     JSONObject pos = (JSONObject) startingPoseJson.get("position");
     double x = ((Number) pos.get("x")).doubleValue();

pathplannerlib/src/main/java/com/pathplanner/lib/auto/AutoBuilderException.java

@@ -1,6 +1,12 @@
 package com.pathplanner.lib.auto;
 
+/** An exception while building autos */
 public class AutoBuilderException extends RuntimeException {
+  /**
+   * Create a new auto builder exception
+   *
+   * @param message Error message
+   */
   public AutoBuilderException(String message) {
     super(message);
   }

pathplannerlib/src/main/java/com/pathplanner/lib/auto/CommandUtil.java

@@ -5,6 +5,7 @@
 import org.json.simple.JSONArray;
 import org.json.simple.JSONObject;
 
+/** Utility class for building commands used in autos */
 public class CommandUtil {
   /**
    * Wraps a command with a functional command that calls the command's initialize, execute, end,

pathplannerlib/src/main/java/com/pathplanner/lib/auto/EventManager.java

@@ -6,6 +6,7 @@
 import java.util.List;
 import java.util.Map;
 
+/** Utility class for managing named commands */
 public class EventManager {
   private static final HashMap<String, Command> eventMap = new HashMap<>();
 

pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathCommand.java

@@ -14,6 +14,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Base command for following a path */
 public class FollowPathCommand extends Command {
   private final Timer timer = new Timer();
   private final PathPlannerPath path;

pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathHolonomic.java

@@ -11,6 +11,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Follow a path using a PPHolonomicDriveController */
 public class FollowPathHolonomic extends FollowPathCommand {
   /**
    * Construct a path following command that will use a holonomic drive controller for holonomic

pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathLTV.java

@@ -12,6 +12,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Follow a path using a PPLTVController */
 public class FollowPathLTV extends FollowPathCommand {
   /**
    * Create a path following command that will use an LTV unicycle controller for differential drive

pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathRamsete.java

@@ -9,6 +9,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Follow a path using a PPRamseteController */
 public class FollowPathRamsete extends FollowPathCommand {
   /**
    * Construct a path following command that will use a Ramsete path following controller for

pathplannerlib/src/main/java/com/pathplanner/lib/commands/FollowPathWithEvents.java

@@ -8,6 +8,7 @@
 import java.util.function.Supplier;
 import java.util.stream.Collectors;
 
+/** Command that will run a path following command and trigger event markers along the way */
 public class FollowPathWithEvents extends Command {
   private final Command pathFollowingCommand;
   private final PathPlannerPath path;

pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindHolonomic.java

@@ -9,6 +9,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Pathfind and follow the path with a PPHolonomicDriveController */
 public class PathfindHolonomic extends PathfindingCommand {
   /**
    * Constructs a new PathfindHolonomic command that will generate a path towards the given path.

pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindLTV.java

@@ -14,6 +14,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Pathfind and follow the path with a PPLTVController */
 public class PathfindLTV extends PathfindingCommand {
   /**
    * Constructs a new PathfindLTV command that will generate a path towards the given path.

pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindRamsete.java

@@ -11,6 +11,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Pathfind and follow the path with a PPRamseteController */
 public class PathfindRamsete extends PathfindingCommand {
   /**
    * Constructs a new PathfindRamsete command that will generate a path towards the given path.

pathplannerlib/src/main/java/com/pathplanner/lib/commands/PathfindingCommand.java

@@ -17,6 +17,7 @@
 import java.util.function.Consumer;
 import java.util.function.Supplier;
 
+/** Base pathfinding command */
 public class PathfindingCommand extends Command {
   private final Timer timer = new Timer();
   private final PathPlannerPath targetPath;

pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPHolonomicDriveController.java

@@ -9,6 +9,7 @@
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 
+/** Path following controller for holonomic drive trains */
 public class PPHolonomicDriveController implements PathFollowingController {
   private final PIDController xController;
   private final PIDController yController;

pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPLTVController.java

@@ -8,6 +8,7 @@
 import edu.wpi.first.math.numbers.N2;
 import edu.wpi.first.math.numbers.N3;
 
+/** LTV following controller */
 public class PPLTVController extends LTVUnicycleController implements PathFollowingController {
   private double lastError = 0;
 

pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PPRamseteController.java

@@ -5,6 +5,7 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 
+/** Ramsete path following controller */
 public class PPRamseteController extends RamseteController implements PathFollowingController {
   private double lastError = 0;
 

pathplannerlib/src/main/java/com/pathplanner/lib/controllers/PathFollowingController.java

@@ -4,6 +4,7 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
 
+/** Interface used by path following controllers */
 public interface PathFollowingController {
   /**
    * Calculates the next output of the path following controller

pathplannerlib/src/main/java/com/pathplanner/lib/path/ConstraintsZone.java

@@ -3,6 +3,7 @@
 import java.util.Objects;
 import org.json.simple.JSONObject;
 
+/** A zone on a path with different kinematic constraints */
 public class ConstraintsZone {
   private final double minWaypointPos;
   private final double maxWaypointPos;

pathplannerlib/src/main/java/com/pathplanner/lib/path/EventMarker.java

@@ -7,6 +7,7 @@
 import java.util.Objects;
 import org.json.simple.JSONObject;
 
+/** Position along the path that will trigger a command when reached */
 public class EventMarker {
   private final double waypointRelativePos;
   private final Command command;

pathplannerlib/src/main/java/com/pathplanner/lib/path/GoalEndState.java

@@ -4,6 +4,7 @@
 import java.util.Objects;
 import org.json.simple.JSONObject;
 
+/** Describes the goal end state of the robot when finishing a path */
 public class GoalEndState {
   private final double velocity;
   private final Rotation2d rotation;

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathConstraints.java

@@ -4,6 +4,7 @@
 import java.util.Objects;
 import org.json.simple.JSONObject;
 
+/** Kinematic path following constraints */
 public class PathConstraints {
   private final double maxVelocityMps;
   private final double maxAccelerationMpsSq;

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerPath.java

@@ -19,6 +19,7 @@
 import org.json.simple.JSONObject;
 import org.json.simple.parser.JSONParser;
 
+/** A PathPlanner path. NOTE: This is not a trajectory and isn't directly followed. */
 public class PathPlannerPath {
   private List<Translation2d> bezierPoints;
   private List<RotationTarget> rotationTargets;
@@ -71,6 +72,11 @@ private PathPlannerPath(PathConstraints globalConstraints, GoalEndState goalEndS
     this.allPoints = new ArrayList<>();
   }
 
+  /**
+   * Hot reload the path. This is used internally.
+   *
+   * @param pathJson Updated JSONObject for the path
+   */
   public void hotReload(JSONObject pathJson) {
     PathPlannerPath updatedPath = PathPlannerPath.fromJson(pathJson);
 
@@ -192,22 +198,7 @@ public PathConstraints getConstraintsForPoint(int idx) {
     return globalConstraints;
   }
 
-  /**
-   * Create a path planner path from pre-generated path points. This is used internally, and you
-   * likely should not use this
-   */
-  public static PathPlannerPath fromPathPoints(
-      List<PathPoint> pathPoints, PathConstraints globalConstraints, GoalEndState goalEndState) {
-    PathPlannerPath path = new PathPlannerPath(globalConstraints, goalEndState);
-    path.allPoints.addAll(pathPoints);
-
-    path.precalcValues();
-
-    return path;
-  }
-
-  /** Generate path points for a path. This is used internally and should not be used directly. */
-  public static List<PathPoint> createPath(
+  private static List<PathPoint> createPath(
       List<Translation2d> bezierPoints,
       List<RotationTarget> holonomicRotations,
       List<ConstraintsZone> constraintZones) {

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPlannerTrajectory.java

@@ -9,6 +9,7 @@
 import java.util.ArrayList;
 import java.util.List;
 
+/** Trajectory created from a pathplanner path */
 public class PathPlannerTrajectory {
   private final List<State> states;
 
@@ -222,25 +223,41 @@ public State getEndState() {
     return getState(getStates().size() - 1);
   }
 
+  /** A state along the trajectory */
   public static class State {
+    /** The time at this state in seconds */
     public double timeSeconds = 0;
 
+    /** The velocity at this state in m/s */
     public double velocityMps = 0;
+    /** The acceleration at this state in m/s^2 */
     public double accelerationMpsSq = 0;
 
+    /** The time at this state in seconds */
     public double headingAngularVelocityRps = 0;
 
+    /** The position at this state in meters */
     public Translation2d positionMeters = new Translation2d();
+    /** The heading (direction of travel) at this state */
     public Rotation2d heading = new Rotation2d();
+    /** The target holonomic rotation at this state */
     public Rotation2d targetHolonomicRotation = new Rotation2d();
 
+    /** The curvature at this state in rad/m */
     public double curvatureRadPerMeter = 0;
-
+    /** The constraints to apply at this state */
     public PathConstraints constraints;
 
     // Values only used during generation
     private double deltaPos = 0;
 
+    /**
+     * Interpolate between this state and the given state
+     *
+     * @param endVal State to interpolate with
+     * @param t Interpolation factor (0.0-1.0)
+     * @return Interpolated state
+     */
     public State interpolate(State endVal, double t) {
       State lerpedState = new State();
 

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathPoint.java

@@ -4,27 +4,52 @@
 import edu.wpi.first.math.geometry.Translation2d;
 import java.util.Objects;
 
+/** A point along a pathplanner path */
 public class PathPoint {
+  /** The position of this point */
   public final Translation2d position;
 
+  /** The distance of this point along the path, in meters */
   public double distanceAlongPath = 0.0;
+  /** The curve radius at this point */
   public double curveRadius = 0.0;
+  /** The max velocity at this point */
   public double maxV = Double.POSITIVE_INFINITY;
+  /** The target rotation at this point */
   public Rotation2d holonomicRotation = null;
+  /** The constraints applied to this point */
   public PathConstraints constraints = null;
 
+  /**
+   * Create a path point
+   *
+   * @param position Position of the point
+   * @param holonomicRotation Rotation target at this point
+   * @param constraints The constraints at this point
+   */
   public PathPoint(
       Translation2d position, Rotation2d holonomicRotation, PathConstraints constraints) {
     this.position = position;
     this.holonomicRotation = holonomicRotation;
     this.constraints = constraints;
   }
 
+  /**
+   * Create a path point
+   *
+   * @param position Position of the point
+   * @param holonomicRotation Rotation target at this point
+   */
   public PathPoint(Translation2d position, Rotation2d holonomicRotation) {
     this.position = position;
     this.holonomicRotation = holonomicRotation;
   }
 
+  /**
+   * Create a path point
+   *
+   * @param position Position of the point
+   */
   public PathPoint(Translation2d position) {
     this.position = position;
   }

pathplannerlib/src/main/java/com/pathplanner/lib/path/PathSegment.java

@@ -7,7 +7,9 @@
 import java.util.List;
 import java.util.Optional;
 
+/** A bezier curve segment */
 public class PathSegment {
+  /** The resolution used during path generation */
   public static final double RESOLUTION = 0.05;
 
   private final List<PathPoint> segmentPoints;

pathplannerlib/src/main/java/com/pathplanner/lib/path/RotationTarget.java

@@ -4,6 +4,7 @@
 import java.util.Objects;
 import org.json.simple.JSONObject;
 
+/** A target holonomic rotation at a position along a path */
 public class RotationTarget {
   private final double waypointRelativePosition;
   private final Rotation2d target;