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Use cubic spline for initial guess #148

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Use cubic spline for initial guess #148

wants to merge 173 commits into from

Commits on Apr 8, 2024

  1. add wpi files

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    bruingineer committed Apr 8, 2024
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  2. remove json. fix gcem include

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    bruingineer committed Apr 8, 2024
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  3. added spline initial guess

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    bruingineer committed Apr 8, 2024
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  4. Update OptimalTrajectoryGenerator.cpp

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  5. account for control intervals

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    bruingineer committed Apr 8, 2024
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  6. Update TrajoptUtil.inc

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  7. Merge branch 'main' into better-initial-guess-wpi-v2

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    bruingineer committed Apr 8, 2024
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Commits on Apr 9, 2024

  1. spline init guess and rust bind

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  2. debug prints

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    bruingineer committed Apr 9, 2024
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  3. Update TrajoptUtil.inc

    @bruingineer
    bruingineer committed Apr 9, 2024
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  4. delete unused wpi

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    bruingineer committed Apr 9, 2024
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  5. remove old spline init guess

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    bruingineer committed Apr 9, 2024
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  6. Update EigenCore.h

    @bruingineer
    bruingineer committed Apr 9, 2024
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  7. fix fn signatures

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    bruingineer committed Apr 9, 2024
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  8. add debug rotation

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    bruingineer committed Apr 9, 2024
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  9. wrap angle and push back theta

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    bruingineer committed Apr 9, 2024
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  10. remove prints, rename initialguess

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    bruingineer committed Apr 9, 2024
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  11. removing more files

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    bruingineer committed Apr 9, 2024
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  12. rename calc init guess (linear / spline)

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  13. switch end spline heading

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    bruingineer committed Apr 9, 2024
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  14. Use FetchContent with allwpilib to avoid copy-paste

    @calcmogul
    calcmogul committed Apr 9, 2024
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  15. Fix wpiformat warnings

    @calcmogul
    calcmogul committed Apr 9, 2024
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Commits on Apr 10, 2024

  1. Merge pull request #1 from calcmogul/use-fetchcontent-with-allwpilib 

    Use fetchcontent with allwpilib
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    bruingineer authored Apr 10, 2024
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Commits on Apr 11, 2024

  1. Remove protobuf from WPILib

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  2. Install Eigen when using CasADi backend

    @calcmogul
    calcmogul committed Apr 11, 2024
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  3. Fix wpimath linkage

    @calcmogul
    calcmogul committed Apr 11, 2024
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  4. Rewrite WPILib patching script in Python

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  5. Run wpiformat

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    calcmogul committed Apr 11, 2024
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  6. Enable check for git apply subprocess

    @calcmogul
    calcmogul committed Apr 11, 2024
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  7. Remove more protobuf files

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    calcmogul committed Apr 11, 2024
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  8. Remove find_dependency(Protobuf) from wpiutil-config.cmake.in

    @calcmogul
    calcmogul committed Apr 11, 2024
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  9. Fix Linux example build

    @calcmogul
    calcmogul committed Apr 11, 2024
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  10. Update TrajoptUtil.inc

    @bruingineer
    bruingineer committed Apr 11, 2024
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Commits on Apr 15, 2024

  1. rust api to return holonomic initial guess

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Commits on Apr 16, 2024

  1. Update swerve.rs

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    bruingineer committed Apr 16, 2024
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  2. init guess kinematics not implemented

    @bruingineer
    bruingineer committed Apr 16, 2024
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  3. add spline1d

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    bruingineer committed Apr 16, 2024
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  4. add pose holonomic spline

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    bruingineer committed Apr 16, 2024
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  5. Update CubicHermitePoseSplineHolonomic.h

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    bruingineer committed Apr 16, 2024
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Commits on Apr 17, 2024

  1. fix GenerateSplineInitialGuess arguments

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    bruingineer committed Apr 17, 2024
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  2. Merge branch 'better-initial-guess-wpi-v2' into work-in-progress-init… 

    …-guess
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    bruingineer committed Apr 17, 2024
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  3. Run wpiformat

    @calcmogul
    calcmogul committed Apr 17, 2024
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  4. Increase build timeout

    @calcmogul
    calcmogul committed Apr 17, 2024
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Commits on Apr 18, 2024

  1. added trajectory parameterize. WIP

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    bruingineer committed Apr 18, 2024
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Commits on Apr 19, 2024

  1. Update SwervePathBuilder.cpp

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    bruingineer committed Apr 19, 2024
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Commits on Apr 20, 2024

  1. sample trajectory with current given control intervals

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  2. use trajectory init guess

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    bruingineer committed Apr 20, 2024
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  3. finding access error...

    @bruingineer
    bruingineer committed Apr 20, 2024
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  4. add debug prints

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    bruingineer committed Apr 20, 2024
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  5. total time on rust

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    bruingineer committed Apr 20, 2024
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  6. fix indexing errors

    @bruingineer
    bruingineer committed Apr 20, 2024
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  7. troubleshoot spline heading

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    bruingineer committed Apr 20, 2024
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  8. Update CubicHermitePoseSplineHolonomic.h

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    bruingineer committed Apr 20, 2024
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  9. updated parameterizer to use the updated getpoint

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    bruingineer committed Apr 20, 2024
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  10. comment prints

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Commits on Apr 21, 2024

  1. typo, move dt calc

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    bruingineer committed Apr 21, 2024
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  2. print iterations, up iteration count

    @bruingineer
    bruingineer committed Apr 21, 2024
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  3. fix end control vector

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    bruingineer committed Apr 21, 2024
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  4. print fmt

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    bruingineer committed Apr 21, 2024
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  5. print idx

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    bruingineer committed Apr 21, 2024
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  6. fix indexing for guess waypoints

    @bruingineer
    bruingineer committed Apr 21, 2024
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  7. remove comments and prints

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    bruingineer committed Apr 21, 2024
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  8. add dt per sgmt

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    bruingineer committed Apr 21, 2024
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  9. same dt for all path

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    bruingineer committed Apr 21, 2024
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  10. Merge branch 'better-initial-guess-wpi-v2' into wip-no-prints

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    bruingineer committed Apr 21, 2024
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  11. run wpiformat

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    bruingineer committed Apr 21, 2024
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  12. move dt to whole sgmt 

    was originally different dt between init guess wpts and normal. now it is the same dt between pose or translation wpt
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  13. Merge branch 'main' into work-in-progress-init-guess

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  14. Merge branch 'main' into better-initial-guess-wpi-v2

    @bruingineer
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  15. Merge branch 'work-in-progress-init-guess' into better-initial-guess-… 

    …wpi-v2
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  16. wpiformat

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  17. uncomment swerve.rs

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  18. dt doesn't work with init guess points

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  19. prints and state indexing

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Commits on Apr 22, 2024

  1. fix whole sgmt points count

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  2. wpiformat

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  3. wpiformat

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    bruingineer committed Apr 22, 2024
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  4. fix another init guess point index issue 

    init guess solution does not like to wrap around the -pi-pi boundary.
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Commits on Apr 23, 2024

  1. add prints

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    bruingineer committed Apr 23, 2024
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  2. wrap headings of sampled init guess

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    bruingineer committed Apr 23, 2024
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  3. delete comments

    @bruingineer
    bruingineer committed Apr 23, 2024
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  4. remove comments

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    bruingineer committed Apr 23, 2024
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  5. remove unused fn

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  6. Update swerve.rs

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Commits on Apr 24, 2024

  1. Fix compiler warnings

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    calcmogul committed Apr 24, 2024
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  2. Run cargo fmt

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  3. Suppress unknown pragma warnings on MinGW

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    calcmogul committed Apr 24, 2024
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  4. Fix clang-tidy warnings

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    calcmogul committed Apr 24, 2024
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  5. Ignore unknown pragmas in wpiutil

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  6. Make wpiutil emscripten backtrace a no-op

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  7. Merge branch 'main' into better-initial-guess-wpi-v2

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    calcmogul committed Apr 24, 2024
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  8. Fix -Wno-unknown-pragmas guard

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    calcmogul committed Apr 24, 2024
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  9. Don't compress debug info with MinGW

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  10. Try to fix debug info compression

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    calcmogul committed Apr 24, 2024
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  11. Try to remove -gz=zlib option

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  12. Remove -gz=none option

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  13. Run wpiformat

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  14. add kinematics to init guess

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    bruingineer committed Apr 24, 2024
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  15. link wpiutil to rust

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    bruingineer committed Apr 24, 2024
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  16. switch wpiutil order in build.rs

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Commits on Apr 25, 2024

  1. fix init guess index sampling. make poseSpline hold a cubic instead o… 

    …f a base class
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  2. Run wpiformat

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  3. Merge branch 'main' into better-initial-guess-wpi-v2

    @bruingineer
    bruingineer committed Apr 25, 2024
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  4. inc iterations, move print dt addition

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  5. Update SwervePathBuilder.cpp

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  6. Update SwervePathBuilder.cpp

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Commits on Apr 27, 2024

  1. traj per sgmt

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  2. Merge branch 'send-new-control-intervals-to-choreo' into apply-constr… 

    …aints-to-initial-guess
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    bruingineer committed Apr 27, 2024
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  3. Update SwervePathBuilder.cpp

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    bruingineer committed Apr 27, 2024
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  4. Update SwervePathBuilder.cpp

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Commits on Apr 29, 2024

  1. super messy wip

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Commits on May 7, 2024

  1. refactor init guess spline fn

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Commits on May 9, 2024

  1. refactor updates

    @bruingineer
    bruingineer committed May 9, 2024
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  2. refactor spline util

    @bruingineer
    bruingineer committed May 9, 2024
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  3. update swerve path builder

    @bruingineer
    bruingineer committed May 9, 2024
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  4. Merge branch 'main' into send-new-control-intervals-to-choreo

    @bruingineer
    bruingineer committed May 9, 2024
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  5. Merge branch 'main' into send-new-control-intervals-to-choreo

    @bruingineer
    bruingineer committed May 9, 2024
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  6. remove includes

    @bruingineer
    bruingineer committed May 9, 2024
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  7. Update SwervePathBuilder.cpp

    @bruingineer
    bruingineer committed May 9, 2024
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  8. wpiformat

    @bruingineer
    bruingineer committed May 9, 2024
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  9. wpiformat

    @bruingineer
    bruingineer committed May 9, 2024
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  10. Update SwervePathBuilder.cpp

    @bruingineer
    bruingineer committed May 9, 2024
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Commits on May 17, 2024

  1. fix typo

    @bruingineer
    bruingineer committed May 17, 2024
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  2. restore set int count on rust

    @bruingineer
    bruingineer committed May 17, 2024
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  3. build.rs add wpimath and wpiutil

    @bruingineer
    bruingineer committed May 17, 2024
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  4. Update SwervePathBuilder.cpp

    @bruingineer
    bruingineer committed May 17, 2024
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  5. trajectories between all points 

    ang vel constraint causes a app freeze.
    @bruingineer
    bruingineer committed May 17, 2024
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Commits on May 20, 2024

  1. fix comments and prints

    @bruingineer
    bruingineer committed May 20, 2024
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Commits on May 21, 2024

  1. working

    @bruingineer
    bruingineer committed May 21, 2024
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  2. Merge branch 'main' into send-new-control-intervals-to-choreo

    @bruingineer
    bruingineer committed May 21, 2024
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  3. Merge branch 'main' into better-initial-guess-wpi-v2

    @bruingineer
    bruingineer committed May 21, 2024
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  4. Merge branch 'better-initial-guess-wpi-v2' into send-new-control-inte… 

    …rvals-to-choreo
    @bruingineer
    bruingineer committed May 21, 2024
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Commits on Jun 20, 2024

  1. Merge branch 'main' into better-initial-guess-wpi-v2

    @bruingineer
    bruingineer committed Jun 20, 2024
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  2. Update SwervePathBuilder.cpp

    @bruingineer
    bruingineer committed Jun 20, 2024
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  3. Increase CI timeouts

    @calcmogul
    calcmogul committed Jun 20, 2024
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  4. Increase native build CI timeout more

    @calcmogul
    calcmogul committed Jun 20, 2024
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  5. Merge branch 'main' into better-initial-guess-wpi-v2

    @calcmogul
    calcmogul committed Jun 20, 2024
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  6. Remove casadi if statement

    @calcmogul
    calcmogul committed Jun 20, 2024
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  7. Disable psabi warning

    @calcmogul
    calcmogul committed Jun 20, 2024
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  8. Disable psabi warning in wpimath build

    @calcmogul
    calcmogul committed Jun 20, 2024
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  9. Set number of jobs to 4

    @calcmogul
    calcmogul committed Jun 20, 2024
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Commits on Jun 21, 2024

  1. Merge branch 'main' into better-initial-guess-wpi-v2

    @calcmogul
    calcmogul committed Jun 21, 2024
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  2. Reduce build timeout

    @calcmogul
    calcmogul committed Jun 21, 2024
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  3. Upgrade WPIMath

    @calcmogul
    calcmogul committed Jun 21, 2024
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  4. Add comment about WPIMath revision

    @calcmogul
    calcmogul committed Jun 21, 2024
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  5. Remove find_dependency(Protobuf) line from wpiutil

    @calcmogul
    calcmogul committed Jun 21, 2024
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  6. Remove more protobuf stuff

    @calcmogul
    calcmogul committed Jun 21, 2024
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  7. Merge branch 'main' into better-initial-guess-wpi-v2

    @calcmogul
    calcmogul committed Jun 21, 2024
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  8. Clean up includes

    @calcmogul
    calcmogul committed Jun 21, 2024
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  9. Merge branch 'main' into better-initial-guess-wpi-v2

    @calcmogul
    calcmogul committed Jun 21, 2024
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Commits on Jun 25, 2024

  1. Merge branch 'main' into better-initial-guess-wpi-v2

    @bruingineer
    bruingineer committed Jun 25, 2024
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  2. Initial Guess Point to Pose2d. Constraint members const public

    @bruingineer
    bruingineer committed Jun 25, 2024
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  3. building, spline guess needs to be fixed

    @bruingineer
    bruingineer committed Jun 25, 2024
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  4. Merge branch 'main' into better-initial-guess-wpi-v2

    @calcmogul
    calcmogul committed Jun 25, 2024
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  5. Run wpiformat

    @calcmogul
    calcmogul committed Jun 25, 2024
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  6. Fix Doxygen warnings

    @calcmogul
    calcmogul committed Jun 25, 2024
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  7. Fix Linux compilation errors

    @calcmogul
    calcmogul committed Jun 25, 2024
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  8. Merge branch 'main' into better-initial-guess-wpi-v2

    @calcmogul
    calcmogul committed Jun 25, 2024
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  9. Cleanup

    @calcmogul
    calcmogul committed Jun 25, 2024
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  10. fix sample index

    @bruingineer
    bruingineer committed Jun 25, 2024
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  11. format

    @bruingineer
    bruingineer committed Jun 25, 2024
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Commits on Jun 29, 2024

  1. Merge branch 'main' into better-initial-guess-wpi-v2

    @bruingineer
    bruingineer committed Jun 29, 2024
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  2. clean up

    @bruingineer
    bruingineer committed Jun 29, 2024
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  3. move spline guess to util

    @bruingineer
    bruingineer committed Jun 29, 2024
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  4. WIP refactor spline guess

    @bruingineer
    bruingineer committed Jun 29, 2024
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  5. fix control interval return ref

    @bruingineer
    bruingineer committed Jun 29, 2024
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Commits on Jul 1, 2024

  1. spline refactor

    @bruingineer
    bruingineer committed Jul 1, 2024
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  2. Update GenerateSplineInitialGuess.hpp

    @bruingineer
    bruingineer committed Jul 1, 2024
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  3. size_t in for loop

    @bruingineer
    bruingineer committed Jul 1, 2024
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  4. Update GenerateSplineInitialGuess.hpp

    @bruingineer
    bruingineer committed Jul 1, 2024
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  5. initialize all fields in swervesolution

    @bruingineer
    bruingineer committed Jul 1, 2024
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Commits on Jul 2, 2024

  1. Merge branch 'main' into better-initial-guess-wpi-v2

    @calcmogul
    calcmogul committed Jul 2, 2024
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  2. Fix #include sorting

    @calcmogul
    calcmogul committed Jul 2, 2024
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