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Mppi goal to critic #4822

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Mppi goal to critic #4822

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redvinaa
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@redvinaa redvinaa commented Jan 3, 2025

Reopen #4812 against main

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mergify bot commented Jan 3, 2025

@redvinaa, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

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@redvinaa before you ask, no this CI failure is also not from you. Geometry2 just changed a bunch of headers from .h to .hpp and the Rolling release with those changes came out last night. #4732 resolves, but need to merge that in and you'll need to pull in those changes or rebase. Then any CI failures are real 😆

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Rebase with #4823 for CI

@redvinaa redvinaa force-pushed the mppi-goal-to-critic branch from 07c373c to b9c3055 Compare January 6, 2025 09:41
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SteveMacenski requested changes Jan 6, 2025
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@SteveMacenski SteveMacenski left a comment •
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This breaks a MPPI unit test - please make sure that this works properly. You may need to broadcast a transformation in that test so that the getTransformedGoal method can function. Likewise in your other PR.

Otherwise, LGTM

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@SteveMacenski SteveMacenski SteveMacenski requested changes

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@redvinaa @SteveMacenski