{"action":"created","comment":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/comments/39118997","id":39118997,"diff_hunk":"@@ -76,12 +75,16 @@ void MotionControl::run() {\n         // TrapezoidalMotion(\n         // \tabs(angleError),\t\t\t\t\t// dist\n         // \tmotionConstraints.maxAngleSpeed,\t// max deg/sec\n-        // \t30,\t\t\t\t\t\t\t\t\t// max deg/sec^2\n-        // \t0.1 ,\t\t\t\t\t\t\t\t// time into path\n+        // \t30,\t\t\t\t\t\t\t\t\t// max\n+        // deg/sec^2\n+        // \t0.1 ,\t\t\t\t\t\t\t\t// time into\n+        // path\n         // \t_robot->angleVel,\t\t\t\t\t// start speed\n-        // \t0,\t\t\t\t\t\t\t\t\t// final speed\n+        // \t0,\t\t\t\t\t\t\t\t\t// final\n+        // speed\n         // \ttargetAngle,\n-        // \ttargetW \t\t\t\t\t\t\t// ignored\n+        // \ttargetW \t\t\t\t\t\t\t//","path":"soccer/motion/MotionControl.cpp","position":28,"original_position":28,"commit_id":"4dbcc2f9ca167886613c48761425cfd165296e0d","original_commit_id":"4dbcc2f9ca167886613c48761425cfd165296e0d","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},"body":"This formatting is so weird.","created_at":"2015-09-10T02:21:42Z","updated_at":"2015-09-10T02:21:42Z","html_url":"https://github.com/RoboJackets/robocup-software/pull/439#discussion_r39118997","pull_request_url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439","_links":{"self":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/comments/39118997"},"html":{"href":"https://github.com/RoboJackets/robocup-software/pull/439#discussion_r39118997"},"pull_request":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439"}}},"pull_request":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439","id":44593151,"html_url":"https://github.com/RoboJackets/robocup-software/pull/439","diff_url":"https://github.com/RoboJackets/robocup-software/pull/439.diff","patch_url":"https://github.com/RoboJackets/robocup-software/pull/439.patch","issue_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/439","number":439,"state":"open","locked":false,"title":"Added TargetVelPathPlanner - not ready to merge","user":{"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},"body":"* TargetVelPathPlanner now creates a Path for target world velocity commands, as used in `Capture` and other behaviors.\r\n* TargetVelPathPlanner respects obstacles, so it should no longer be possible to accidentally crash or enter goal zones when using target world velocity.\r\n    * removed backoff state from Capture that was put in place to avoid issues with obstacles and target world velocity\r\n* Implemented Path.draw() so that subclasses don't need to unless they have good reason.\r\n* Refactored TrapezoidalPath a bit (underscores for ivars)\r\n* Moved common replanning checks from RRTPlanner to SingleRobotPathPlanner\r\n\r\nTODO:\r\n- [ ] Use binary search instead of linear search for endpoint\r\n- [x] Config value for vel change threshold\r\n- [ ] Handle case where start point is inside an obstacle\r\n\r\ncloses #427 ","created_at":"2015-09-09T19:59:01Z","updated_at":"2015-09-10T02:21:42Z","closed_at":null,"merged_at":null,"merge_commit_sha":"97d6dc94a6a8afb67bb34042480e291f1bcf0d7b","assignee":{"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},"milestone":null,"commits_url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439/commits","review_comments_url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439/comments","review_comment_url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/comments{/number}","comments_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/439/comments","statuses_url":"https://api.github.com/repos/RoboJackets/robocup-software/statuses/4dbcc2f9ca167886613c48761425cfd165296e0d","head":{"label":"RoboJackets:justin/target-vel-planner","ref":"justin/target-vel-planner","sha":"4dbcc2f9ca167886613c48761425cfd165296e0d","user":{"login":"RoboJackets","id":3523251,"avatar_url":"https://avatars.githubusercontent.com/u/3523251?v=3","gravatar_id":"","url":"https://api.github.com/users/RoboJackets","html_url":"https://github.com/RoboJackets","followers_url":"https://api.github.com/users/RoboJackets/followers","following_url":"https://api.github.com/users/RoboJackets/following{/other_user}","gists_url":"https://api.github.com/users/RoboJackets/gists{/gist_id}","starred_url":"https://api.github.com/users/RoboJackets/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RoboJackets/subscriptions","organizations_url":"https://api.github.com/users/RoboJackets/orgs","repos_url":"https://api.github.com/users/RoboJackets/repos","events_url":"https://api.github.com/users/RoboJackets/events{/privacy}","received_events_url":"https://api.github.com/users/RoboJackets/received_events","type":"Organization","site_admin":false},"repo":{"id":15662105,"name":"robocup-software","full_name":"RoboJackets/robocup-software","owner":{"login":"RoboJackets","id":3523251,"avatar_url":"https://avatars.githubusercontent.com/u/3523251?v=3","gravatar_id":"","url":"https://api.github.com/users/RoboJackets","html_url":"https://github.com/RoboJackets","followers_url":"https://api.github.com/users/RoboJackets/followers","following_url":"https://api.github.com/users/RoboJackets/following{/other_user}","gists_url":"https://api.github.com/users/RoboJackets/gists{/gist_id}","starred_url":"https://api.github.com/users/RoboJackets/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RoboJackets/subscriptions","organizations_url":"https://api.github.com/users/RoboJackets/orgs","repos_url":"https://api.github.com/users/RoboJackets/repos","events_url":"https://api.github.com/users/RoboJackets/events{/privacy}","received_events_url":"https://api.github.com/users/RoboJackets/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/RoboJackets/robocup-software","description":"Georgia Tech RoboJackets software for the RoboCup Small Size League","fork":false,"url":"https://api.github.com/repos/RoboJackets/robocup-software","forks_url":"https://api.github.com/repos/RoboJackets/robocup-software/forks","keys_url":"https://api.github.com/repos/RoboJackets/robocup-software/keys{/key_id}","collaborators_url":"https://api.github.com/repos/RoboJackets/robocup-software/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/RoboJackets/robocup-software/teams","hooks_url":"https://api.github.com/repos/RoboJackets/robocup-software/hooks","issue_events_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/events{/number}","events_url":"https://api.github.com/repos/RoboJackets/robocup-software/events","assignees_url":"https://api.github.com/repos/RoboJackets/robocup-software/assignees{/user}","branches_url":"https://api.github.com/repos/RoboJackets/robocup-software/branches{/branch}","tags_url":"https://api.github.com/repos/RoboJackets/robocup-software/tags","blobs_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/refs{/sha}","trees_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/trees{/sha}","statuses_url":"https://api.github.com/repos/RoboJackets/robocup-software/statuses/{sha}","languages_url":"https://api.github.com/repos/RoboJackets/robocup-software/languages","stargazers_url":"https://api.github.com/repos/RoboJackets/robocup-software/stargazers","contributors_url":"https://api.github.com/repos/RoboJackets/robocup-software/contributors","subscribers_url":"https://api.github.com/repos/RoboJackets/robocup-software/subscribers","subscription_url":"https://api.github.com/repos/RoboJackets/robocup-software/subscription","commits_url":"https://api.github.com/repos/RoboJackets/robocup-software/commits{/sha}","git_commits_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/commits{/sha}","comments_url":"https://api.github.com/repos/RoboJackets/robocup-software/comments{/number}","issue_comment_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/comments{/number}","contents_url":"https://api.github.com/repos/RoboJackets/robocup-software/contents/{+path}","compare_url":"https://api.github.com/repos/RoboJackets/robocup-software/compare/{base}...{head}","merges_url":"https://api.github.com/repos/RoboJackets/robocup-software/merges","archive_url":"https://api.github.com/repos/RoboJackets/robocup-software/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/RoboJackets/robocup-software/downloads","issues_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues{/number}","pulls_url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls{/number}","milestones_url":"https://api.github.com/repos/RoboJackets/robocup-software/milestones{/number}","notifications_url":"https://api.github.com/repos/RoboJackets/robocup-software/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/RoboJackets/robocup-software/labels{/name}","releases_url":"https://api.github.com/repos/RoboJackets/robocup-software/releases{/id}","created_at":"2014-01-06T01:09:14Z","updated_at":"2015-09-09T17:38:38Z","pushed_at":"2015-09-10T01:40:48Z","git_url":"git://github.com/RoboJackets/robocup-software.git","ssh_url":"git@github.com:RoboJackets/robocup-software.git","clone_url":"https://github.com/RoboJackets/robocup-software.git","svn_url":"https://github.com/RoboJackets/robocup-software","homepage":"http://www.robojackets.org/teams/robocup/","size":351608,"stargazers_count":16,"watchers_count":16,"language":"C++","has_issues":true,"has_downloads":true,"has_wiki":false,"has_pages":true,"forks_count":36,"mirror_url":null,"open_issues_count":124,"forks":36,"open_issues":124,"watchers":16,"default_branch":"master"}},"base":{"label":"RoboJackets:master","ref":"master","sha":"bddb4bdf1c66c72bec1480bc9599b64a190f0a83","user":{"login":"RoboJackets","id":3523251,"avatar_url":"https://avatars.githubusercontent.com/u/3523251?v=3","gravatar_id":"","url":"https://api.github.com/users/RoboJackets","html_url":"https://github.com/RoboJackets","followers_url":"https://api.github.com/users/RoboJackets/followers","following_url":"https://api.github.com/users/RoboJackets/following{/other_user}","gists_url":"https://api.github.com/users/RoboJackets/gists{/gist_id}","starred_url":"https://api.github.com/users/RoboJackets/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RoboJackets/subscriptions","organizations_url":"https://api.github.com/users/RoboJackets/orgs","repos_url":"https://api.github.com/users/RoboJackets/repos","events_url":"https://api.github.com/users/RoboJackets/events{/privacy}","received_events_url":"https://api.github.com/users/RoboJackets/received_events","type":"Organization","site_admin":false},"repo":{"id":15662105,"name":"robocup-software","full_name":"RoboJackets/robocup-software","owner":{"login":"RoboJackets","id":3523251,"avatar_url":"https://avatars.githubusercontent.com/u/3523251?v=3","gravatar_id":"","url":"https://api.github.com/users/RoboJackets","html_url":"https://github.com/RoboJackets","followers_url":"https://api.github.com/users/RoboJackets/followers","following_url":"https://api.github.com/users/RoboJackets/following{/other_user}","gists_url":"https://api.github.com/users/RoboJackets/gists{/gist_id}","starred_url":"https://api.github.com/users/RoboJackets/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RoboJackets/subscriptions","organizations_url":"https://api.github.com/users/RoboJackets/orgs","repos_url":"https://api.github.com/users/RoboJackets/repos","events_url":"https://api.github.com/users/RoboJackets/events{/privacy}","received_events_url":"https://api.github.com/users/RoboJackets/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/RoboJackets/robocup-software","description":"Georgia Tech RoboJackets software for the RoboCup Small Size League","fork":false,"url":"https://api.github.com/repos/RoboJackets/robocup-software","forks_url":"https://api.github.com/repos/RoboJackets/robocup-software/forks","keys_url":"https://api.github.com/repos/RoboJackets/robocup-software/keys{/key_id}","collaborators_url":"https://api.github.com/repos/RoboJackets/robocup-software/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/RoboJackets/robocup-software/teams","hooks_url":"https://api.github.com/repos/RoboJackets/robocup-software/hooks","issue_events_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/events{/number}","events_url":"https://api.github.com/repos/RoboJackets/robocup-software/events","assignees_url":"https://api.github.com/repos/RoboJackets/robocup-software/assignees{/user}","branches_url":"https://api.github.com/repos/RoboJackets/robocup-software/branches{/branch}","tags_url":"https://api.github.com/repos/RoboJackets/robocup-software/tags","blobs_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/refs{/sha}","trees_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/trees{/sha}","statuses_url":"https://api.github.com/repos/RoboJackets/robocup-software/statuses/{sha}","languages_url":"https://api.github.com/repos/RoboJackets/robocup-software/languages","stargazers_url":"https://api.github.com/repos/RoboJackets/robocup-software/stargazers","contributors_url":"https://api.github.com/repos/RoboJackets/robocup-software/contributors","subscribers_url":"https://api.github.com/repos/RoboJackets/robocup-software/subscribers","subscription_url":"https://api.github.com/repos/RoboJackets/robocup-software/subscription","commits_url":"https://api.github.com/repos/RoboJackets/robocup-software/commits{/sha}","git_commits_url":"https://api.github.com/repos/RoboJackets/robocup-software/git/commits{/sha}","comments_url":"https://api.github.com/repos/RoboJackets/robocup-software/comments{/number}","issue_comment_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/comments{/number}","contents_url":"https://api.github.com/repos/RoboJackets/robocup-software/contents/{+path}","compare_url":"https://api.github.com/repos/RoboJackets/robocup-software/compare/{base}...{head}","merges_url":"https://api.github.com/repos/RoboJackets/robocup-software/merges","archive_url":"https://api.github.com/repos/RoboJackets/robocup-software/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/RoboJackets/robocup-software/downloads","issues_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues{/number}","pulls_url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls{/number}","milestones_url":"https://api.github.com/repos/RoboJackets/robocup-software/milestones{/number}","notifications_url":"https://api.github.com/repos/RoboJackets/robocup-software/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/RoboJackets/robocup-software/labels{/name}","releases_url":"https://api.github.com/repos/RoboJackets/robocup-software/releases{/id}","created_at":"2014-01-06T01:09:14Z","updated_at":"2015-09-09T17:38:38Z","pushed_at":"2015-09-10T01:40:48Z","git_url":"git://github.com/RoboJackets/robocup-software.git","ssh_url":"git@github.com:RoboJackets/robocup-software.git","clone_url":"https://github.com/RoboJackets/robocup-software.git","svn_url":"https://github.com/RoboJackets/robocup-software","homepage":"http://www.robojackets.org/teams/robocup/","size":351608,"stargazers_count":16,"watchers_count":16,"language":"C++","has_issues":true,"has_downloads":true,"has_wiki":false,"has_pages":true,"forks_count":36,"mirror_url":null,"open_issues_count":124,"forks":36,"open_issues":124,"watchers":16,"default_branch":"master"}},"_links":{"self":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439"},"html":{"href":"https://github.com/RoboJackets/robocup-software/pull/439"},"issue":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/issues/439"},"comments":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/issues/439/comments"},"review_comments":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439/comments"},"review_comment":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/439/commits"},"statuses":{"href":"https://api.github.com/repos/RoboJackets/robocup-software/statuses/4dbcc2f9ca167886613c48761425cfd165296e0d"}}}}