Add zmp generator and populate all outputs of the unycycle trajectory generator #916
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
LoreMoretti
changed the title
LoreMoretti
force-pushed
the
unicycleTrajectoryGenerator/addOutputs
branch
from
03e1d0e to
7f78303
Compare
LoreMoretti
requested review from
GiulioRomualdi and
S-Dafarra
as code owners
|
At the code level, it looks good. What I am a bit afraid of is that from outside it is not clear that the different trajectories are not coherent with each other. At the unicycle planner level, you are calling to different generators, so somehow you can expect them to be separate. Here instead, the output is in a single data structure. Maybe it would be useful to have a trigger to turn on or off this output? |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Some of the outputs of the
UnicycleTrajectoryGeneratorwere not being populated.This PR fixes it.
Moreover, the
ZMP generator(and its outputs) is added to theUnicycleTrajectoryGenerator