This separates the trajectory planning capabilities into it's own class. This accomplishes a few things. It reduces the size of the robot class to make it more manageable and sets the stage for a Descartes integration without adding a dependency to the main project.
There are more methods that we could refactor out of the robot class and into the trajectory planner, but in an effort to keep this PR small, make as few API changes as possible and open the door for early feedback we think that this PR is ready for review as is.
This PR includes #81, #83, #84, and #85 which should be removed from this PR before merging
mlautman
commented
5 years ago
This separates the trajectory planning capabilities into it's own class. This accomplishes a few things. It reduces the size of the robot class to make it more manageable and sets the stage for a Descartes integration without adding a dependency to the main project.
There are more methods that we could refactor out of the robot class and into the trajectory planner, but in an effort to keep this PR small, make as few API changes as possible and open the door for early feedback we think that this PR is ready for review as is.
This PR includes #81, #83, #84, and #85 which should be removed from this PR before merging