Make arm spline definition a ton easier
Remove all the redundant intermediate variables.
Change-Id: I1e1d93b8a4363f3498775a0eead3d14ae190e77a
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/control_loops/superstructure/arm/arm.cc b/y2023/control_loops/superstructure/arm/arm.cc
index fd265c4..03a1b21 100644
--- a/y2023/control_loops/superstructure/arm/arm.cc
+++ b/y2023/control_loops/superstructure/arm/arm.cc
@@ -38,7 +38,7 @@
search_graph_(MakeSearchGraph(&dynamics_, &trajectories_, alpha_unitizer_,
kVMax(), &hybrid_roll_joint_loop_)),
// Go to the start of the first trajectory.
- follower_(&dynamics_, &hybrid_roll_joint_loop_, NeutralPosPoint()),
+ follower_(&dynamics_, &hybrid_roll_joint_loop_, NeutralPoint()),
points_(PointList()),
current_node_(0) {
int i = 0;
@@ -92,7 +92,7 @@
}
// TODO(milind): should we default to the closest position?
- uint32_t filtered_goal = arm::NeutralPosIndex();
+ uint32_t filtered_goal = arm::NeutralIndex();
if (unsafe_goal != nullptr) {
filtered_goal = *unsafe_goal;
}