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KIT-MRT / arbitration_graphs

Hierarchical behavior models for complex decision-making and behavior generation in robotics
https://kit-mrt.github.io/arbitration_graphs/
MIT License
15 stars 0 forks source link

Verifier #40

Closed ll-nick closed 1 month ago

ll-nick commented 4 months ago

Alright, here is a very simple verifier that makes sure our command output does not try running into walls.

76f1f5cec05ebc5268c48fa316b35fa448d94bf7 This one is a little ugly, check the commit description for details. My proposal would be the following: After all merge request have been worked on and the demo branch is in a good state, I'd remove the DIRECTION::LAST enum altogether. Since we replaced DoNothing with StayInPlace we don't really need it anymore and it does not play well with the costEstimator.

orzechow commented 1 month ago

Rebased on top of latest #36

orzechow commented 1 month ago

No unit tests? :sob:

ll-nick commented 1 month ago

@orzechow Any objections to removing Direction::LAST? I would include that into this PR so that we don't need the hacky commit described above.

orzechow commented 1 month ago

@orzechow Any objections to removing Direction::LAST? I would include that into this PR so that we don't need the hacky commit described above.

I'm fine with that 👍

ll-nick commented 1 month ago

Alrighty, there's a test now. If it seems familiar to you, that's because it is :stuck_out_tongue_closed_eyes:

ll-nick commented 1 month ago

Rebased on current #38

ll-nick commented 1 month ago

And one more rebase on now merged #38

orzechow commented 1 month ago

Alrighty, there's a test now. If it seems familiar to you, that's because it is 😝

:smirk: