{"action":"created","issue":{"url":"https://api.github.com/repos/cvra/master-firmware/issues/15","labels_url":"https://api.github.com/repos/cvra/master-firmware/issues/15/labels{/name}","comments_url":"https://api.github.com/repos/cvra/master-firmware/issues/15/comments","events_url":"https://api.github.com/repos/cvra/master-firmware/issues/15/events","html_url":"https://github.com/cvra/master-firmware/pull/15","id":71683012,"number":15,"title":"Trajectory tracking using Tracy","user":{"login":"antoinealb","id":2419961,"avatar_url":"https://avatars.githubusercontent.com/u/2419961?v=3","gravatar_id":"","url":"https://api.github.com/users/antoinealb","html_url":"https://github.com/antoinealb","followers_url":"https://api.github.com/users/antoinealb/followers","following_url":"https://api.github.com/users/antoinealb/following{/other_user}","gists_url":"https://api.github.com/users/antoinealb/gists{/gist_id}","starred_url":"https://api.github.com/users/antoinealb/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/antoinealb/subscriptions","organizations_url":"https://api.github.com/users/antoinealb/orgs","repos_url":"https://api.github.com/users/antoinealb/repos","events_url":"https://api.github.com/users/antoinealb/events{/privacy}","received_events_url":"https://api.github.com/users/antoinealb/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-04-28T19:41:44Z","updated_at":"2015-04-28T23:53:31Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/cvra/master-firmware/pulls/15","html_url":"https://github.com/cvra/master-firmware/pull/15","diff_url":"https://github.com/cvra/master-firmware/pull/15.diff","patch_url":"https://github.com/cvra/master-firmware/pull/15.patch"},"body":"This pull request integrates tracy the trajectory tracker. The code is not 100% clean yet but I heard there will be quite some modifications soon (bus enumeration and whatnot), so I think this can be handled then.\r\n\r\nIt was not tested yet on robot."},"comment":{"url":"https://api.github.com/repos/cvra/master-firmware/issues/comments/97266848","html_url":"https://github.com/cvra/master-firmware/pull/15#issuecomment-97266848","issue_url":"https://api.github.com/repos/cvra/master-firmware/issues/15","id":97266848,"user":{"login":"Stapelzeiger","id":1719607,"avatar_url":"https://avatars.githubusercontent.com/u/1719607?v=3","gravatar_id":"","url":"https://api.github.com/users/Stapelzeiger","html_url":"https://github.com/Stapelzeiger","followers_url":"https://api.github.com/users/Stapelzeiger/followers","following_url":"https://api.github.com/users/Stapelzeiger/following{/other_user}","gists_url":"https://api.github.com/users/Stapelzeiger/gists{/gist_id}","starred_url":"https://api.github.com/users/Stapelzeiger/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Stapelzeiger/subscriptions","organizations_url":"https://api.github.com/users/Stapelzeiger/orgs","repos_url":"https://api.github.com/users/Stapelzeiger/repos","events_url":"https://api.github.com/users/Stapelzeiger/events{/privacy}","received_events_url":"https://api.github.com/users/Stapelzeiger/received_events","type":"User","site_admin":false},"created_at":"2015-04-28T23:53:31Z","updated_at":"2015-04-28T23:53:31Z","body":"The pose info should not be in motor_control.c/h. I suggest moving it to robot_pose.c/h.\r\nAlso the way we handle time in trajectories should be discussed. The current implementation with one timestamp per variable per sample per actuator seems too inefficient to me (both in terms of memory usage and search/merge time) unless we would send \"sparse\" trajectories with a variable sampling rate.\r\nLastly I think trajectories need an explicit read pointer so we don't delete point that haven't been executed yet."}}