commit cf96d32f51e99cdbc4cdb9928728b54f4825dab8
author Austin Schuh <austin.linux@gmail.com> Sat Apr 07 15:52:31 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed May 30 20:11:30 2018 -0700
tree c7f890e09ce2b11ee8b024207f5e633425a5d554
parent 52b59a45ccaea1305a3a3746b001d6cd90b20d43

Add fast front to back moves.

Also open the intake up a bit further.

Change-Id: Ifc83b479d4792601d418bf85cef429e4c164e83b

y2018/control_loops/python/graph_codegen.py

diff --git a/y2018/control_loops/python/graph_codegen.py b/y2018/control_loops/python/graph_codegen.py
index abe5ed3..22bd1d2 100644
--- a/y2018/control_loops/python/graph_codegen.py
+++ b/y2018/control_loops/python/graph_codegen.py
@@ -17,8 +17,14 @@
     vmax = "vmax"
     if segment.vmax:
         vmax = "::std::min(vmax, %f)" % segment.vmax
+
+    alpha_unitizer = "alpha_unitizer"
+    if segment.alpha_unitizer is not None:
+        alpha_unitizer = "(::Eigen::Matrix<double, 2, 2>() << %f, %f, %f, %f).finished()" % (
+            segment.alpha_unitizer[0, 0], segment.alpha_unitizer[0, 1],
+            segment.alpha_unitizer[1, 0], segment.alpha_unitizer[1, 1])
     cc_file.append( "  trajectories->emplace_back(%s," % (vmax))
-    cc_file.append( "                             alpha_unitizer,")
+    cc_file.append( "                             %s," % (alpha_unitizer))
     if reverse:
         cc_file.append(
             "                             Trajectory(Path::Reversed(%s()), 0.005));"
@@ -43,7 +49,7 @@
                    (index_function_name(start_index),
                     index_function_name(end_index)))
     cc_file.append(
-        "                     (trajectories->back().trajectory.path().length() + 1.0)});")
+        "                     (trajectories->back().trajectory.path().length() + 0.2)});")
 
     # TODO(austin): Allow different vmaxes for different paths.
     cc_file.append(