Trajectory is only finished when goal constraint satisfied

personalrobotics / rewd_controllers

master

BSD 3-Clause "New" or "Revised" License

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Trajectory is only finished when goal constraint satisfied #22

Closed Ponzel closed 6 years ago

Ponzel commented 6 years ago

This PR compares the actual joint configurations with the desired configurations. Only when they match within a configurable range (in the controller configuration parameters), the controller publishes that the trajectory has been completed successfully.

Ponzel commented 6 years ago

I addressed @jslee02 's comments, though I have to say that I disagree with doing those micro-optimizations that barely make an impact :) If performance was in any way relevant in this location, you wouldn't use an unordered_map anyways, but a tight vector that fits inside one cache line.

jslee02 commented 6 years ago

You can always skip addressing nitpick comments if they prevent you from moving forward like the PR is blocking other urgent PRs. Performance critical feedback, which is highly recommended to be resolved, will be commented without "nit:" mark.