[reactController] remove motionPlan, read trajectories directly from port

robotology / react-control

Framework for reaching with whole-body obstacle avoidance.

GNU General Public License v2.0

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[reactController] remove motionPlan, read trajectories directly from port #19

Closed towardthesea closed 7 years ago

towardthesea commented 7 years ago

The main purpose of this PR is:

Remove motionPlan dependency
Introduce 1 new method to read trajectories from planner directly from port.

It is tested on simulation. The behavior of integration is the same!

cc @matejhof @pattacini

alecive commented 7 years ago

I cannot say anything about the implementation, but big :+1: about the design decision of decoupling the two parts of the software.

towardthesea commented 7 years ago

Regarding the callback vs polling question, motionPlan was designed with callback for the communication between planner and supervisor, which is asynchronous. In case of react-controller, the reference update is synchronous.