Add PathPlannerLib SwerveAutoBuilder, FollowPathWithEvents, etc.

robotpy / robotpy-pathplannerlib

RobotPy bindings for PathplannerLib

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Add PathPlannerLib SwerveAutoBuilder, FollowPathWithEvents, etc. #10

Open NeilTheFisher opened 1 year ago

NeilTheFisher commented 1 year ago

Problem description

It looks like robotpy-pathplannerlib is missing some vital classes belonging to the original PathPlannerLib like SwerveAutoBuilder. However, I do see header files inside the locally installed package which hints incompleteness.

I'd like to use these classes ASAP. I assume an edit to the gen/ files is what would be required.

Operating System

Windows, RoboRIO

Installed Python Packages

No response

Reproducible example code

No response

NeilTheFisher commented 1 year ago

I see they were left out of this PR:

virtuald commented 1 year ago

This was discussed on gitter, but it would be very challenging to use these classes as-is, because RobotPy uses a forked version of the commands library, and doesn't make it available to link to. I'd rather one of the following to occur:

Refactor the C++ code such that it doesn't require commands (but could easily be used from one), ideally submit that upstream, and then we wrap the underlying code here and use it from a thin python command layer
Rewrite the C++ code in python (looks like it's just a lot of glue code?) and submit a PR here