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added to_task() function #53

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Merged
ThomasDuquette merged 4 commits into from
May 15, 2026
Merged

added to_task() function #53

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09e9f40
added to_task() function
Nikos-d May 13, 2026
ea6b48f
Change to_task for a constructor
Nikos-d May 15, 2026
0710d10
style: apply clang-format
Nikos-d May 15, 2026
e1fced8
Deleted old function
Nikos-d May 15, 2026
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13 changes: 10 additions & 3 deletions blast/blast_task.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,6 @@
#include <blast>

namespace blast {


struct TaskBoundary {
Array position;
Array velocity;
Expand All @@ -25,6 +23,16 @@ struct Task {
}
}

explicit Task(const Matrix& m) {
start.position = m.col(0);
start.velocity = m.col(1);
start.acceleration = m.col(2);

goal.position = m.col(3);
goal.velocity = m.col(4);
goal.acceleration = m.col(5);
}

static Task stop_to_stop(Array start_pos, Array goal_pos) {
Task t(start_pos.size);
t.start.position = std::move(start_pos);
Expand All @@ -47,5 +55,4 @@ struct Task {
}
};


} // namespace blast
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