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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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Remove JointCoordinateType #271

Closed varunagrawal closed 2 years ago

varunagrawal commented 2 years ago

JointTyped defines two aliases, JointCoordinateType and JointCoordinate which is the same as JointCoordinate. The majority of the code uses JointCoordinate while only JointLimitFactors.h uses JointCoordinateType.

This kind of aliasing is confusing, and unless someone can convince me with a compelling argument otherwise, we should get rid of JointCoordinateType.

varunagrawal commented 2 years ago

@gchenfc @yetongumich can you please let me know if I am missing something and why JointCoordinateType should not be deleted? We should also take some time to add in the ball and sphere joints soon since that may illuminate the usefulness of JointTyped going forward.

gchenfc commented 2 years ago

Resolved by #291 that removed all these things.