[x] Code is complete, and naming of variables, methods and classes are readable by non-coder humans.
[ ] This code change has been tested and validated working as expected.
[ ] This code change has been reflected in robot documentation in the docs folder.
[ ] The questions below have all been answered.
[x] The title of this PR has been updated to describe the change made, for example, [Subsystem or Command Name] Short description of change.
[x] Assignees (usually yourself) have been assigned in the "Assignees" section to the right.
[x] Relevant reviewers have been assigned under the "Reviewers" section at the right.
What is changing and why?
In the prior iteration of the WaypointSafety class, we used a simplification of the no-fly zones in the robot base. This works for deciding whether or not to use planned paths, but does not work for testing whether a particular endpoint of a move is safe. This updates that method to be more specific about that no-fly zone.
How was this tested?
Is there anything the reviewer of this PR needs to know to validate that this code is correct?
What do your team members need to know about this?
Related Issues and PRs
Issue:
Related PRs:
Checklist
docsfolder.[Subsystem or Command Name] Short description of change.What is changing and why?
In the prior iteration of the
WaypointSafetyclass, we used a simplification of the no-fly zones in the robot base. This works for deciding whether or not to use planned paths, but does not work for testing whether a particular endpoint of a move is safe. This updates that method to be more specific about that no-fly zone.How was this tested?
Is there anything the reviewer of this PR needs to know to validate that this code is correct?
What do your team members need to know about this?