Create type equivalence between referenceframe.Input and float64s #5391

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dgottlieb merged 8 commits into viamrobotics:main from erh:20251010-no-refframe-input

Oct 22, 2025

Member

erh commented Oct 20, 2025

No description provided.


          experiment

8486d89

viambot added the safe to test label

Contributor

github-actions bot commented Oct 20, 2025

Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!

component	function
base	IsMoving
button	Push
genericcomponent	DoCommand
board	GPIOPinByName
camera	Properties
encoder	Properties
motor	IsMoving
sensor	Readings
servo	Position
arm	EndPosition
audio	MediaProperties
gantry	Lengths
gripper	IsMoving
input_controller	Controls
movement_sensor	LinearAcceleration
power_sensor	Power
pose_tracker	Poses
genericservice	DoCommand
motion	GetPose
vision	GetProperties

dgottlieb changed the title ~~experiment~~ Get rid of referenceframe.Input. Just use floats.

dgottlieb added 2 commits

October 21, 2025 09:49


          Remove input <-> float slice helper methods.

85c0a3e


          Update callsites

552b3e2

viambot added safe to test and removed safe to test labels

dgottlieb changed the title ~~Get rid of referenceframe.Input. Just use floats.~~ Create type equivalence between referenceframe.Input and float64s

dgottlieb self-requested a review

October 21, 2025 14:07

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dgottlieb commented Oct 21, 2025 •

edited

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Ug, just realized @erh -- Do we need to keep those referenceframe.FloatsToInputs and InputsToFloats methods to avoid backward breaking modules/other client scripts?

Removing .Value is already backwards breaking. But I bet way less than the helper methods. Can easily add the helper methods back in even if we no longer use them in the rdk repo.

Member Author

erh commented Oct 21, 2025

just break it.
it's annoying but will be fine


          lint

c157c41

viambot added safe to test and removed safe to test labels


          missing slice append

9b24e4e

viambot added safe to test and removed safe to test labels


          gofmt

a1e7209

viambot added safe to test and removed safe to test labels


          undo array creation bug

viambot added safe to test and removed safe to test labels

Member

dgottlieb commented Oct 21, 2025

I have a patch for the motion-tests repo ready for an RDK tag. I can't make you a reviewer on your own PR, @erh. Any last reservations before merging?

Member Author

erh commented Oct 22, 2025

nope, i like it.


          Merge branch 'main' into 20251010-no-refframe-input

f8bb5c3

viambot added safe to test and removed safe to test labels

dgottlieb merged commit 713cf19 into viamrobotics:main

16 of 19 checks passed

erh deleted the 20251010-no-refframe-input branch

October 24, 2025 05:43

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