Replace InitialGuessPoint in Rust API with Pose2d (#220)

SleipnirGroup · Jun 26, 2024 · 5f237b7 · 5f237b7
1 parent cfc5a2b
commit 5f237b7
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Showing 3 changed files with 10 additions and 11 deletions.
diff --git a/src/lib.rs b/src/lib.rs
@@ -17,7 +17,7 @@ mod ffi {
     }
 
     #[derive(Debug, Deserialize, Serialize)]
-    struct InitialGuessPoint {
+    struct Pose2d {
         x: f64,
         y: f64,
         heading: f64,
@@ -75,7 +75,7 @@ mod ffi {
         fn sgmt_initial_guess_points(
             self: Pin<&mut SwervePathBuilderImpl>,
             from_index: usize,
-            guess_points: &Vec<InitialGuessPoint>,
+            guess_points: &Vec<Pose2d>,
         );
 
         fn wpt_linear_velocity_direction(
@@ -224,7 +224,7 @@ impl SwervePathBuilder {
     pub fn sgmt_initial_guess_points(
         &mut self,
         from_index: usize,
-        guess_points: &Vec<crate::ffi::InitialGuessPoint>,
+        guess_points: &Vec<crate::ffi::Pose2d>,
     ) {
         crate::ffi::SwervePathBuilderImpl::sgmt_initial_guess_points(
             self.path.pin_mut(),
@@ -439,6 +439,6 @@ impl Default for SwervePathBuilder {
 
 pub use ffi::HolonomicTrajectory;
 pub use ffi::HolonomicTrajectorySample;
-pub use ffi::InitialGuessPoint;
+pub use ffi::Pose2d;
 pub use ffi::SwerveDrivetrain;
 pub use ffi::SwerveModule;
diff --git a/src/trajoptlibrust.cpp b/src/trajoptlibrust.cpp
@@ -67,8 +67,7 @@ trajopt::SwerveDrivetrain _convert_swerve_drivetrain(
                                   &_convert_swerve_module>(drivetrain.modules)};
 }
 
-trajopt::Pose2d _convert_initial_guess_point(
-    const InitialGuessPoint& initialGuessPoint) {
+trajopt::Pose2d _convert_initial_guess_point(const Pose2d& initialGuessPoint) {
   return {initialGuessPoint.x, initialGuessPoint.y, initialGuessPoint.heading};
 }
 
@@ -111,9 +110,9 @@ void SwervePathBuilderImpl::empty_wpt(size_t index, double x_guess,
 }
 
 void SwervePathBuilderImpl::sgmt_initial_guess_points(
-    size_t from_index, const rust::Vec<InitialGuessPoint>& guess_points) {
+    size_t from_index, const rust::Vec<Pose2d>& guess_points) {
   std::vector<trajopt::Pose2d> convertedGuessPoints =
-      _rust_vec_to_cpp_vector<InitialGuessPoint, trajopt::Pose2d,
+      _rust_vec_to_cpp_vector<Pose2d, trajopt::Pose2d,
                               &_convert_initial_guess_point>(guess_points);
   path.SgmtInitialGuessPoints(from_index, convertedGuessPoints);
 }

diff --git a/src/trajoptlibrust.hpp b/src/trajoptlibrust.hpp
@@ -12,7 +12,7 @@
 namespace trajoptlibrust {
 
 struct HolonomicTrajectory;
-struct InitialGuessPoint;
+struct Pose2d;
 struct SwerveDrivetrain;
 
 class SwervePathBuilderImpl {
@@ -28,8 +28,8 @@ class SwervePathBuilderImpl {
   void empty_wpt(size_t index, double x_guess, double y_guess,
                  double heading_guess);
 
-  void sgmt_initial_guess_points(
-      size_t from_index, const rust::Vec<InitialGuessPoint>& guess_points);
+  void sgmt_initial_guess_points(size_t from_index,
+                                 const rust::Vec<Pose2d>& guess_points);
 
   void wpt_linear_velocity_direction(size_t index, double angle);
   void wpt_linear_velocity_max_magnitude(size_t index, double magnitude);