Rewrite linekicker #2163
Rewrite linekicker #2163
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Good stuff Peter! I know I wrote half of this but I still have some requested changes just to clean it up before merging. Also I'm going to merge #2151 soon and then we might have to rebase this branch
| @@ -13,30 +13,17 @@ using namespace rj_geometry; | |||
| namespace planning { | |||
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| Trajectory LineKickPathPlanner::plan(const PlanRequest& plan_request) { | |||
| // TODO(?): ros param these | |||
| const float approach_speed = 0.05; | |||
| SPDLOG_INFO("Robot {} state {}", plan_request.shell_id, current_state_); | |||
| reuse_path_count_ = 0; | ||
| } | ||
| Trajectory LineKickPathPlanner::initial(const PlanRequest& plan_request) { | ||
| // // Getting ball info |
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can we fix this odd double-comment formatting?
| target.position -= target.velocity.normalized(kRobotRadius + kBallRadius * 2); | ||
| // velocity | ||
| auto goal_to_ball = (plan_request.motion_command.target.position - ball.position); | ||
| auto vel = goal_to_ball.normalized() * 1.0; |
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let's refactor 1.0 into a class constant something like static constexpr double final_robot_speed ?
| return path; | ||
| } | ||
| } | ||
| void LineKickPathPlanner::state_transition(BallState ball, RobotInstant start_instant) { |
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we can eliminate these parameters note the GH Actions warnings
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| // ball velocity filtering vars | ||
| static constexpr double IS_DONE_BALL_VEL = 1.5; |
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GH doesn't like this case style try something like kIsBallDoneVelocity or something like that?
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and maybe we should do a little more sim testing as to what the best value is
automated style fixes Co-authored-by: petergarud <[email protected]>
automated style fixes Co-authored-by: petergarud <[email protected]>
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automated style fixes Co-authored-by: sid-parikh <[email protected]>
Description
Rewrote linekicker.