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KodlabPenn / kodlab_mjbots_sdk

Repo for kodlab SDK for use with mjbots ecosystem
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Fix base classes, consts and virtual destructors #89

Closed jdcaporale closed 1 year ago

jdcaporale commented 1 year ago

Fixes missing virtual destructors and the const correctness of many of the robot base member functions. A good opportunity to do more minor clean up on the base classes, if anything comes to mind.

This may require some const-correctness fixes to existing code.

jdcaporale commented 1 year ago

Deals with #80

jdcaporale commented 1 year ago

Compilation. Running on Twist today to make sure it runs fine. We don't have a good way to check if we had memory leaks before vs now.

ShaneRozenLevy commented 1 year ago

I suspect if we do have memory leaks they are minor since we are not creating and removing a ton of these objects.

jdcaporale commented 1 year ago

Tested and working on a quadrupedal robot, but not in the examples, best I can currently do.