Robot Localizer#3754
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nycrat
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May 30, 2026
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Great work! Added some comments.
| * different | ||
| * @return True if the trajectories are different, false otherwise | ||
| */ | ||
| bool isNew(const Trajectory<double, double, double>& other, |
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isDifferent could be a better representation of what the function does
| * different in degrees. | ||
| * @return True if the trajectories are different, false otherwise | ||
| */ | ||
| bool isNew(const Trajectory<Angle, AngularVelocity, AngularAcceleration>& other, |
| * different | ||
| * @return True if the trajectories are different, false otherwise | ||
| */ | ||
| virtual bool isNew(const Trajectory<P, V, A>& other, double threshold) const = 0; |
| * different | ||
| * @return True if the trajectories are different, false otherwise | ||
| */ | ||
| bool isNew(const Trajectory<Point, Vector, Vector>& other, |
| clock_gettime(CLOCK_MONOTONIC, &last_kicker_fired); | ||
| } | ||
| else if (direct_control_.power_control().chicker().has_chip_distance_meters() || | ||
| direct_control_.power_control() |
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Might want to implement a chicker_status in power_control
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Okay that might be a good idea for a ticket, I think I understand what you mean
| // Robot 1 | ||
| Point(world_ptr->field().centerPoint() + | ||
| Vector(-world_ptr->field().centerCircleRadius(), 0)), | ||
| Vector(-0.95 * world_ptr->field().centerCircleRadius(), 0)), |
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why are we doing this?
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Test just wasn't passing
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Description
Completes the ported changes from #3716, and implements the robot localizer, its various interfaces, and completes refactoring on much of the thunderloop pipeline.
Testing Done
Resolved Issues
Resolves #3725
Length Justification and Key Files to Review
thunderloop.cppprimitive_executor.cpprobot_localizer.cppReview Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue