Removes the ill-fated Trollius support from PlanningMethod. #278
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Trollius support never actually worked very well (or at all), and with the addition of `prpy.futures` we have a much better interface for doing parallel operations. This removes the `defer` options on all prpy planning methods, and replaced the `Ranked` implementation with one that uses `prpy.futures` and plain threading instead.
| if len(dof_indices) and affine_dofs: | ||
| raise ValueError( | ||
| 'Trajectory contains both affine and regular DOFs.') | ||
| # Special case for timing affine-only trajectories. |
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Missing newline before this comment.
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I don't understand, since I just re-indented this code without changing it.
Where do you want a newline? Do you want a blank line before an elif?
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It looks a bit odd to have no newline between the ValueError and this comment. I suppose it's fine, though, because we do this all the time on elifs.
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This is a fantastic change - our ill-fated attempt at using Trollius introduced a lot of needless complexity into the planning pipeline. I am grateful that you removed it and left some specific comments above. @jeking04 was attempting to use |
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I am good with merging this. I couldn't ever quite figure it out and ended On Saturday, March 26, 2016, Michael Koval notifications@github.com wrote:
Jen King |
This manual copying of description is not needed after #282.
Trollius support never actually worked very well (or at all) for our planners, and with the addition of
prpy.futureswe have a much better interface for doing parallel operations.This removes the
deferoptions on all prpy planning methods, and replaced theRankedimplementation with one that usesprpy.futuresand plain threading instead.