Mpc step planning - #1854
Merged
Merged
Conversation
rmburg
force-pushed
the
mpc-step-planning
branch
4 times, most recently
from
May 29, 2025 17:34
15404e0 to
2767c21
Compare
rmburg
force-pushed
the
mpc-step-planning
branch
2 times, most recently
from
May 30, 2025 10:50
7f38182 to
d5ad87d
Compare
rmburg
force-pushed
the
mpc-step-planning
branch
3 times, most recently
from
June 4, 2025 14:34
da6cfad to
159fcc0
Compare
rmburg
force-pushed
the
mpc-step-planning
branch
4 times, most recently
from
June 8, 2025 16:15
0d2c4f0 to
4329b12
Compare
rmburg
force-pushed
the
mpc-step-planning
branch
2 times, most recently
from
July 1, 2025 13:58
7e0304b to
ecd7fb6
Compare
Otherwise, it could not be used across crate boundaries and in external benches/tests.
Before, direct step was not working for the greedy step planner
rmburg
force-pushed
the
mpc-step-planning
branch
from
October 1, 2025 14:55
cfdb211 to
ee9e04f
Compare
rmburg
enabled auto-merge
October 9, 2025 11:15
oleflb
reviewed
Oct 10, 2025
oleflb
left a comment
oleflb
left a comment
Contributor
There was a problem hiding this comment.
There you go. Bitte nächstes Mal kleinere PRs und nicht ein Riesending :)
oleflb
approved these changes
Oct 10, 2025
1 task
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Why? What?
Fixes #1838
Depends on:
directionfield inArc#1553geometry::Arc: use angles forstartandend#1609.support_side()intoMode#1856Pathnewtype #2041PathSerdeforMatrixtypes with N > 6 #2096ToDo / Known Issues
docs/robotics/motion/step_planning.mdIdeas for Next Iterations (Not This PR)
How to Test
observe planned steps (twix), either with a real robot or behavior sim