Bang Bang Trajectory Generation #3
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package.xml
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Do we need / want this repo to be a ROS package? The way we're integrating it into the software repo, this is not required.
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Agreed, this is not necessary.
analysis/src/bin/trajectory_gen.rs
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I expect we'll have multiple things living in the analysis folder that might not all be written in rust. Could this simulator live in a subdirectory?
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Yes, I still need to move it.
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Having started to pull this into the coach software, it'd be super cool if these types were in a namespace. These are very generic names to be unqualified type names.
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Ok, I expect to make some big changes still, so integrate it with caution.
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@barulicm do you mean I should just add AteamControls in front of the type names, or I should try to use a proper C++ namespace? It seems like it doesn't fit to use C++ features in this .h header file.
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Maybe this won't be for this PR, but I need to give you some math to convert torques to currents. Might as well do the conversion up on the H7 where we have lots of horsepower. |
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@barulicm @chachmu @guyfleeman please take a look when you get some time. I organized it into commits, if that makes it easier to view. Thanks! |
Bang Bang Trajectory Generation