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Enforce check to make sure waypoints match path frames #33

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merged 3 commits into from
Feb 20, 2024

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@sswadkar sswadkar requested a review from plusparth February 19, 2024 19:21
@sswadkar sswadkar merged commit 16a6616 into pathfollowing-frame Feb 20, 2024
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sswadkar added a commit that referenced this pull request Feb 20, 2024
* Use field frame estimator in drivetrain

Topic: field-frame-drivetrain-2
Relative: refactor-vision-update
Reviewers: saraansh, rithvik, pranav

* allow pathfollowing to follow either frame

* follow field coordinates in odo frame

* set odoTField on command initialize

* disallow shifting by odoTField when in field frame

* fix var names

* working frame irl

* frame path following integration

* working frame conversions for path following

* progress without path planner

* working frame following

* do proper calculation for applying path transformation

* use drivetrain rotation as starting point if one is not provided

* assume coordinates are relative to path frame

* Enforce check to make sure waypoints match path frames (#33)

* enforce check to make sure waypoints match path frames

* end command if things don't agree

* rename + don't flip odowaypoint

* Compile time errors for conflicting waypoints (#35)

* enforce check to make sure waypoints match path frames

* end command if things don't agree

* rename + don't flip odowaypoint

* compile time error for conflicting frame path definitions

* remove path frame reference

* proper naming for these constructors

* spotless pls work

---------

Co-authored-by: Parth Oza <[email protected]>
Shom770 pushed a commit that referenced this pull request Feb 20, 2024
* Use field frame estimator in drivetrain

Topic: field-frame-drivetrain-2
Relative: refactor-vision-update
Reviewers: saraansh, rithvik, pranav

* allow pathfollowing to follow either frame

* follow field coordinates in odo frame

* set odoTField on command initialize

* disallow shifting by odoTField when in field frame

* fix var names

* working frame irl

* frame path following integration

* working frame conversions for path following

* progress without path planner

* working frame following

* do proper calculation for applying path transformation

* use drivetrain rotation as starting point if one is not provided

* assume coordinates are relative to path frame

* Enforce check to make sure waypoints match path frames (#33)

* enforce check to make sure waypoints match path frames

* end command if things don't agree

* rename + don't flip odowaypoint

* Compile time errors for conflicting waypoints (#35)

* enforce check to make sure waypoints match path frames

* end command if things don't agree

* rename + don't flip odowaypoint

* compile time error for conflicting frame path definitions

* remove path frame reference

* proper naming for these constructors

* spotless pls work

---------

Co-authored-by: Parth Oza <[email protected]>
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