{"action":"created","issue":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/444","labels_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/444/labels{/name}","comments_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/444/comments","events_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/444/events","html_url":"https://github.com/RoboJackets/robocup-software/pull/444","id":105739120,"number":444,"title":"Refactor motion commands/constraints","user":{"login":"ashaw596","id":2037510,"avatar_url":"https://avatars.githubusercontent.com/u/2037510?v=3","gravatar_id":"","url":"https://api.github.com/users/ashaw596","html_url":"https://github.com/ashaw596","followers_url":"https://api.github.com/users/ashaw596/followers","following_url":"https://api.github.com/users/ashaw596/following{/other_user}","gists_url":"https://api.github.com/users/ashaw596/gists{/gist_id}","starred_url":"https://api.github.com/users/ashaw596/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ashaw596/subscriptions","organizations_url":"https://api.github.com/users/ashaw596/orgs","repos_url":"https://api.github.com/users/ashaw596/repos","events_url":"https://api.github.com/users/ashaw596/events{/privacy}","received_events_url":"https://api.github.com/users/ashaw596/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"justbuchanan","id":115131,"avatar_url":"https://avatars.githubusercontent.com/u/115131?v=3","gravatar_id":"","url":"https://api.github.com/users/justbuchanan","html_url":"https://github.com/justbuchanan","followers_url":"https://api.github.com/users/justbuchanan/followers","following_url":"https://api.github.com/users/justbuchanan/following{/other_user}","gists_url":"https://api.github.com/users/justbuchanan/gists{/gist_id}","starred_url":"https://api.github.com/users/justbuchanan/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/justbuchanan/subscriptions","organizations_url":"https://api.github.com/users/justbuchanan/orgs","repos_url":"https://api.github.com/users/justbuchanan/repos","events_url":"https://api.github.com/users/justbuchanan/events{/privacy}","received_events_url":"https://api.github.com/users/justbuchanan/received_events","type":"User","site_admin":false},"milestone":null,"comments":7,"created_at":"2015-09-10T06:14:39Z","updated_at":"2015-09-13T23:25:20Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/444","html_url":"https://github.com/RoboJackets/robocup-software/pull/444","diff_url":"https://github.com/RoboJackets/robocup-software/pull/444.diff","patch_url":"https://github.com/RoboJackets/robocup-software/pull/444.patch"},"body":"Possibly ready to merge\r\n\r\nfinished some initial implementation. \r\nCreated MotionCommands, RotationCommands.\r\nHave seperate RotationConstraints and MotionConstraints Kept that for now so that editing the constraints survives changing the motionCommand.\r\n\r\nMotionCommand and RotationCommand are implemented polymorphicly right now.\r\nI put the enums back in and doing an if check on enum and then a static cast.\r\n\r\nStill not sure about the design for a couple things\r\n\r\nunique_ptr vs shared_ptr for the commands\r\nI think that maybe the commands should be cast before they are sent to the pathPlanners since they really shouldn't take any commands they can't accept.\r\nThen a centralized pathPlanner plan function doesn't work but there has to be some immediary anyways which knows which planner takes what commands anyways.\r\n\r\n#TODO: \r\n - [x] Tons of merge conflicts with your pull requests\r\n - [x] Pick an implementation for the getCommandType enum. Its implemented with a virtual method in Rotation and a variable in the base class in MotionCommand.\r\n - [x] Figure out exactly how pivot should be handled. Its a Motion Command right now. It also has rotational component though so another refactor of Pathplanner stuff and Motioncontrol.\r\n - [x] Clean up stuff.\r\n - [x] Move the RotationConstraint Configs to the right class file.\r\n\r\nCheck up on the boost/make_unique thing. Seems to not compile in circle.\r\n"},"comment":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/comments/139928100","html_url":"https://github.com/RoboJackets/robocup-software/pull/444#issuecomment-139928100","issue_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/444","id":139928100,"user":{"login":"ashaw596","id":2037510,"avatar_url":"https://avatars.githubusercontent.com/u/2037510?v=3","gravatar_id":"","url":"https://api.github.com/users/ashaw596","html_url":"https://github.com/ashaw596","followers_url":"https://api.github.com/users/ashaw596/followers","following_url":"https://api.github.com/users/ashaw596/following{/other_user}","gists_url":"https://api.github.com/users/ashaw596/gists{/gist_id}","starred_url":"https://api.github.com/users/ashaw596/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ashaw596/subscriptions","organizations_url":"https://api.github.com/users/ashaw596/orgs","repos_url":"https://api.github.com/users/ashaw596/repos","events_url":"https://api.github.com/users/ashaw596/events{/privacy}","received_events_url":"https://api.github.com/users/ashaw596/received_events","type":"User","site_admin":false},"created_at":"2015-09-13T23:25:20Z","updated_at":"2015-09-13T23:25:20Z","body":"But whats the point of combining the constraints and commands together? The same amount of data that gets passed around no matter what. Also I have them seperately so that the constraints aren't overwritten time a new command is sent. Also, passing around those 20 pointers isn't really our performance constraint."}}