Borrow Parameters

Author: rmburg

crates/step_planning/src/step_plan.rs

@@ -37,15 +37,14 @@ impl<'a, T: RealField> StepPlan<'a, T> {
     }
 }
 
-// TODO borrow parameters, initial_pose,...
 #[derive(Clone, Debug)]
 pub struct StepPlanning<'a> {
     pub path: Path<'a>,
     pub target_orientation: Orientation2<Ground>,
     pub initial_pose: Pose<f32>,
     pub initial_support_foot: Side,
     pub orientation_mode: OrientationMode,
-    pub parameters: StepPlanningOptimizationParameters,
+    pub parameters: &'a StepPlanningOptimizationParameters,
 }
 
 impl StepPlanning<'_> {
@@ -81,7 +80,7 @@ impl StepPlanning<'_> {
             target_orientation_penalty,
             walk_orientation_penalty,
             ..
-        } = self.parameters;
+        } = *self.parameters;
         let PlannedStep { pose, step } = planned_step;
 
         let path_progress_cost = self.path_progress().loss(pose.position) * path_progress_reward;
@@ -107,7 +106,7 @@ impl StepPlanning<'_> {
             target_orientation_penalty,
             walk_orientation_penalty,
             ..
-        } = self.parameters;
+        } = *self.parameters;
         let PlannedStep { pose, step } = planned_step;
 
         let path_progress_gradient =

crates/step_planning_solver/src/lib.rs

@@ -138,7 +138,7 @@ pub fn plan_steps(
             path,
             initial_pose: initial_pose.clone(),
             initial_support_foot,
-            parameters: parameters.clone(),
+            parameters,
             orientation_mode,
             target_orientation,
         },
@@ -262,7 +262,7 @@ mod tests {
                     ))],
                 },
                 target_orientation: Orientation2::from_cos_sin_unchecked(1.0, -8.893846e-21),
-                parameters: StepPlanningOptimizationParameters {
+                parameters: &StepPlanningOptimizationParameters {
                     alignment_start_distance: 0.1,
                     alignment_start_smoothness: 0.05,
                     path_progress_smoothness: 0.05,