Rename AlignWithPath -> Unspecified to reflect new semantics

Author: rmburg

crates/bevyhavior_simulator/src/robot.rs

@@ -250,7 +250,7 @@ pub fn move_robots(mut robots: Query<&mut Robot>, mut ball: ResMut<BallResource>
                 };
 
                 let orientation = match orientation_mode {
-                    OrientationMode::AlignWithPath => {
+                    OrientationMode::Unspecified => {
                         if target.norm_squared() < f32::EPSILON {
                             Orientation2::identity()
                         } else {

crates/control/src/behavior/search.rs

@@ -125,7 +125,7 @@ pub fn execute(
         let orientation_mode = if is_reached {
             OrientationMode::LookTowards(Orientation2::new(parameters.rotation_per_step))
         } else {
-            OrientationMode::AlignWithPath
+            OrientationMode::Unspecified
         };
         Some(walk_path_planner.walk_with_obstacle_avoiding_arms(
             head,

crates/control/src/behavior/walk_to_pose.rs

@@ -220,7 +220,7 @@ pub fn hybrid_alignment(
 
     let distance_to_target = target_pose.position().coords().norm();
     if distance_to_target > distance_to_be_aligned + hybrid_align_distance {
-        return OrientationMode::AlignWithPath;
+        return OrientationMode::Unspecified;
     }
 
     let angle_limit = ((distance_to_target - distance_to_be_aligned) / hybrid_align_distance)

crates/control/src/dribble_path_planner.rs

@@ -111,7 +111,7 @@ impl DribblePathPlanner {
         );
         let ball_position = &context.ball.ball_in_ground;
         let orientation_mode = match hybrid_orientation_mode {
-            types::motion_command::OrientationMode::AlignWithPath
+            types::motion_command::OrientationMode::Unspecified
                 if ball_position.coords().norm() > 0.0 =>
             {
                 OrientationMode::LookAt(context.ball.ball_in_ground)

crates/control/src/time_to_reach_kick_position.rs

@@ -73,7 +73,7 @@ impl TimeToReachKickPosition {
         let turn_angle = match orientation_mode {
             OrientationMode::LookTowards(orientation) => orientation.angle().abs(),
             OrientationMode::LookAt(point) => point.coords().angle(&Vector2::x_axis()).abs(),
-            OrientationMode::AlignWithPath => match dribble_path.first() {
+            OrientationMode::Unspecified => match dribble_path.first() {
                 Some(PathSegment::LineSegment(line_segment)) => {
                     line_segment.1.coords().angle(&Vector2::x_axis()).abs()
                 }

crates/types/src/motion_command.rs

@@ -33,7 +33,7 @@ pub enum WalkSpeed {
     Clone, Copy, Debug, Serialize, Deserialize, PathSerialize, PathDeserialize, PathIntrospect,
 )]
 pub enum OrientationMode {
-    AlignWithPath,
+    Unspecified,
     LookTowards(Orientation2<Ground>),
     LookAt(Point2<Ground>),
 }