Codegen paths from python for the arm and build the graph
We now have a bunch of really cool paths in C++. They look pretty good.
Change-Id: I9590d771cebc64cd520ceed2617aca8a82f78362
diff --git a/y2018/control_loops/superstructure/arm/BUILD b/y2018/control_loops/superstructure/arm/BUILD
index 997d940..af1e03a 100644
--- a/y2018/control_loops/superstructure/arm/BUILD
+++ b/y2018/control_loops/superstructure/arm/BUILD
@@ -74,8 +74,8 @@
],
restricted_to = ["//tools:k8"],
deps = [
- ":demo_path",
":ekf",
+ ":generated_graph",
":trajectory",
"//third_party/eigen",
"//third_party/gflags",
@@ -126,6 +126,7 @@
deps = [
":demo_path",
":ekf",
+ ":generated_graph",
":graph",
":trajectory",
"//aos/common/logging:queue_logging",
@@ -134,3 +135,27 @@
"//y2018/control_loops/superstructure:superstructure_queue",
],
)
+
+genrule(
+ name = "generated_graph_genrule",
+ outs = [
+ "generated_graph.h",
+ "generated_graph.cc",
+ ],
+ cmd = "$(location //y2018/control_loops/python:graph_codegen) $(OUTS)",
+ tools = [
+ "//y2018/control_loops/python:graph_codegen",
+ ],
+)
+
+cc_library(
+ name = "generated_graph",
+ srcs = [
+ "generated_graph.cc",
+ ],
+ hdrs = ["generated_graph.h"],
+ deps = [
+ ":graph",
+ ":trajectory",
+ ],
+)