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/arm.h b/y2018/control_loops/superstructure/arm/arm.h
index d794c3e..1b7c1ce 100644
--- a/y2018/control_loops/superstructure/arm/arm.h
+++ b/y2018/control_loops/superstructure/arm/arm.h
@@ -14,16 +14,6 @@
namespace superstructure {
namespace arm {
-struct TrajectoryPair {
- TrajectoryPair(::std::unique_ptr<Path> forwards_path,
- ::std::unique_ptr<Path> backwards_path, double step_size)
- : forwards(::std::move(forwards_path), step_size),
- backwards(::std::move(backwards_path), step_size) {}
-
- Trajectory forwards;
- Trajectory backwards;
-};
-
class Arm {
public:
Arm();
@@ -67,7 +57,7 @@
const ::Eigen::Matrix<double, 2, 2> alpha_unitizer_;
- ::std::vector<TrajectoryPair> trajectories_;
+ ::std::vector<Trajectory> trajectories_;
SearchGraph search_graph_;
bool close_enough_for_full_power_ = false;