Merge Settle into Collect #2320
Conversation
automated style fixes Co-authored-by: sanatd33 <[email protected]>
automated style fixes Co-authored-by: sid-parikh <[email protected]>
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| // List of obstacles | ||
| ShapeSet static_obstacles; | ||
| std::vector<DynamicObstacle> dynamic_obstacles; | ||
| fill_obstacles(plan_request, &static_obstacles, &dynamic_obstacles, false); | ||
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| if (current_state_ == Intercept) { |
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Can we use our convention from strategy and the line kick planner for all caps state names?
| RobotInstant start_instant) { | ||
| // If the ball is moving, intercept | ||
| // if not, regularly approach | ||
| if (current_state_ == CoarseApproach && average_ball_vel_.mag() > 0.2) { |
| @@ -177,8 +200,7 @@ void CollectPathPlanner::process_state_transition(BallState ball, RobotInstant s | |||
| // If we are close enough to the target point near the ball | |||
| // and almost the same speed we want, start slowing down | |||
| // TODO(#1518): Check for ball sense? | |||
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Maybe we can get rid of this TODO comment once and for all :)
| @@ -243,6 +266,246 @@ Trajectory CollectPathPlanner::coarse_approach( | |||
| return coarse_path; | |||
| } | |||
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| void CollectPathPlanner::calc_delta_pos_for_dir(BallState ball, RobotInstant start_instant, | |||
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Do we really need this function for our use case?
| std::ceil((settle::PARAM_search_end_dist - settle::PARAM_search_start_dist) / | ||
| settle::PARAM_search_inc_dist); | ||
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| for (int iteration = 0; iteration < num_iterations; iteration++) { |
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instead of calculating number of iterations can we do all the "math" in the for loop? Like start at start, end at end, and increment by increment for each part of for loop, respectively?
| @@ -453,6 +715,8 @@ bool CollectPathPlanner::is_done() const { | |||
| // (see process_state_transition()) | |||
| if (current_state_ != Control) { | |||
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return current_state_ == Control?
Also, if we're not using the below code do we need Control?
| Trajectory dampen_end; | ||
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| if (previous_.empty()) { | ||
| dampen_end = CreatePath::simple(start_instant.linear_motion(), final_stopping_motion, |
| @@ -23,12 +23,11 @@ Trajectory::Trajectory(Trajectory a, const Trajectory& b) { | |||
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| using rj_geometry::Point; | |||
| if (!a_end.position().near_point(b_begin.position(), 1e-6) || | |||
| !a_end.linear_velocity().near_point(b_begin.linear_velocity(), 1e-6) || | |||
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Consider making tolerance higher rather than getting rid of velocity check
Collect now can properly get stationary and moving balls