Code

Motion planning cleanup#1629

Code

Merged

biotinker merged 17 commits intoviamrobotics:mainviamrobotics/rdk:mainfrom biotinker:20221123_motion_planning_cleanupbiotinker/robotcore:20221123_motion_planning_cleanupCopy head branch name to clipboardDec 1, 2022

+789-722

Commits

Commits on Nov 23, 2022

• Remove SolvableFrameSystem

  biotinker

  committed
  bf18ed4

  Copy full SHA for bf18ed4

• Rework fallbacks to be MUCH more better-behaved

  biotinker

  committed
  19651da

  Copy full SHA for 19651da

Commits on Nov 24, 2022

• Merge branch 'main' into 20221123_motion_planning_cleanup

  biotinker

  committed
  b4747f6

  Copy full SHA for b4747f6

• Make PlannerOptions a part of the planner struct

  biotinker

  committed
  99a1f2e

  Copy full SHA for 99a1f2e

Commits on Nov 28, 2022

• Merge branch 'main' into 20221123_motion_planning_cleanup

  biotinker

  committed
  fa2f098

  Copy full SHA for fa2f098

• Add smoothing. Rework planner options to better integrate with algs

  biotinker

  committed
  14a5618

  Copy full SHA for 14a5618

• Fix tests

  biotinker

  committed
  06444ab

  Copy full SHA for 06444ab

Commits on Nov 29, 2022

• lint

  biotinker

  committed
  a0d0308

  Copy full SHA for a0d0308

• renaming/reorganization

  biotinker

  committed
  41e2466

  Copy full SHA for 41e2466

Commits on Nov 30, 2022

• Abstract IK out of low-level planners into the plan manager

  biotinker

  committed
  68be843

  Copy full SHA for 68be843

• Tweak some defaults

  biotinker

  committed
  a02bf41

  Copy full SHA for a02bf41

• Address PR comments; mostly renames and reorganization

  biotinker

  committed
  15fc1af

  Copy full SHA for 15fc1af

• lint

  biotinker

  committed
  6c8d555

  Copy full SHA for 6c8d555

• Fix ncpu being doubled up

  biotinker

  committed
  59b2ebd

  Copy full SHA for 59b2ebd

• Finish addressing PR comments

  biotinker

  committed
  f949e9f

  Copy full SHA for f949e9f

Commits on Dec 1, 2022

• Some renames based on pr comments

  biotinker

  committed
  ac24fe3

  Copy full SHA for ac24fe3

• Merge branch 'main' into 20221123_motion_planning_cleanup

  biotinker

  committed
  8fdfa13

  Copy full SHA for 8fdfa13