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SemRoCo / giskard_core

This package provides the core C++ library of giskard, a constraint and optimization-based framework for robot motion control.
GNU General Public License v2.0
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Invalid type recognition in controllers parsed from yaml #21

Closed ARoefer closed 7 years ago

ARoefer commented 7 years ago

Not sure how much of an issue this is, but it is very unexpected behavior. If you write something like this in my yaml file:

scope:
  - my_vec: {vector3: [1,2,3]}
  - relable_of_my_vec: my_vec

I receive an error while generating the scope. The error stems from the parser initializing the reference to my_vec as double reference and then not being able to resolve it during the generation step.

airballking commented 7 years ago

I know about this issue. In fact, I always considered this it a nice-to-have feature that I did not get around to implement.

Are you interested in implementing it?

ARoefer commented 7 years ago

I can implement it. My solution would be to fix this during the generation step, meaning that the ScopeSpec generated by the parser would still be incorrect but the Spec would be fine. If this is ok with you, I will implement the feature.

airballking commented 7 years ago

I did not understand the solution that you are suggestion. In general, I would be happy about a fix in a pull request. ;)

What do you mean with "the ScopeSpec ...will stlil be incorrect but the Spec would be fine."?

ARoefer commented 7 years ago

I'm sorry, that was a typo. I meant to say that the Scope would be fine, but the ScopeSpec would be incorrect. I will just implement it and send you a pull request.