Intermediate Pathgen #2266
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Intermediate Pathgen #2266
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jacksherling
requested changes
Sep 4, 2024
| @@ -216,6 +216,8 @@ bool RobotFactoryPosition::am_closest_kicker() { | |||
| } | |||
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| void RobotFactoryPosition::set_default_position() { | |||
| set_current_position<Line>(); | |||
| return; | |||
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Testing shouldn't be pushed to ros2 😄
| @@ -145,8 +146,8 @@ class RobotFactoryPosition : public Position { | |||
| // SPDLOG_INFO("we are never leaving defense :)"); | |||
| // return; | |||
| // } | |||
| SPDLOG_INFO("Robot {}: change {}", robot_id_, current_position_->get_name()); | |||
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return to prior spot. probably don't want logs to get flooded with positions that aren't changing
| std::vector<rj_geometry::Point> get_intermediates(const LinearMotionInstant& start, | ||
| const LinearMotionInstant& goal); | ||
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| const double MIN_SCALE = 0.5, MAX_SCALE = 1.5; |
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let's use constexpr here and for the other variables below because we already know the values
jacksherling
approved these changes
Sep 8, 2024
petergarud
requested changes
Sep 9, 2024
| constexpr double MIN_SCALE = 0.5, MAX_SCALE = 1.5; | ||
| constexpr double MIN_ANGLE = 20, MAX_ANGLE = 140; | ||
| constexpr int NUM_INTERMEDIATES = 10; | ||
| constexpr double STEP_SIZE = 0.1; |
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Use right style: kConstantName
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| std::vector<rj_geometry::Point> get_intermediates(const LinearMotionInstant& start, | ||
| const LinearMotionInstant& goal) { | ||
| std::random_device rd; |
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Add intermediate that works to list of new random ones. Cache that so know have one that works. (only cache if know works). Cache means adding to array of possibilities so still find optimal one. This helps because might be finding worse random positions later and veering off path.
automated style fixes Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com>
sid-parikh
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petergarud
requested changes
Sep 24, 2024
automated style fixes Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com>
Squid5678
approved these changes
Sep 29, 2024
petergarud
approved these changes
Sep 29, 2024
| double scale = scale_dist(gen); | ||
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| // Generate random tuples of distances and angles | ||
| inter_tuples.emplace_back(abs(angle), signbit(angle) ? -1 : 1, scale); |
piman51277
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Oct 6, 2024
* initial test of tigers system * clean up and add comment * added line test * fix line issue * made comments and removed from settle * Fix Code Style On intermediate-pathgen (#2267) automated style fixes Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com> * make pr changes * add cache inter * start cacching intermediates * add params * use abs angle * Fix Code Style On intermediate-pathgen (#2269) automated style fixes Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com> --------- Co-authored-by: rishiso <rishisoni.5678@gmail.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com> Co-authored-by: petergarud <peter.garud04@gmail.com> Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com>
shourikb
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Oct 30, 2024
* initial test of tigers system * clean up and add comment * added line test * fix line issue * made comments and removed from settle * Fix Code Style On intermediate-pathgen (#2267) automated style fixes Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com> * make pr changes * add cache inter * start cacching intermediates * add params * use abs angle * Fix Code Style On intermediate-pathgen (#2269) automated style fixes Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com> --------- Co-authored-by: rishiso <rishisoni.5678@gmail.com> Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: sanatd33 <sanatd33@users.noreply.github.com> Co-authored-by: petergarud <peter.garud04@gmail.com> Co-authored-by: sid-parikh <sid-parikh@users.noreply.github.com>
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Description
Creates a new path planner to replace RRT. The main idea is to create one (or more) intermediate points that can segment a straight line path to avoid obstacles. This is heavily based on the TIGERS path planner, specifically referencing their 2019 TDP.