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Testable Constraint Output#266

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brianhou merged 52 commits intomasterpersonalrobotics/aikido:masterfrom sniyaz/feature/testableConstraintOutputpersonalrobotics/aikido:sniyaz/feature/testableConstraintOutputCopy head branch name to clipboardJan 7, 2018

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Commits

Commits on Nov 26, 2017

• Added TestableOutcomeClass.

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• Added NonCollidingOutcome.hpp

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• Include TestableOutcome in Testable. Fix TestableOutcome to make it work.

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• Updated Testable isSatisfied signature and changed *bunch* of signatures in derived classes. [TODO]: Figure out the unused param warnings.

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• Changed NonCollidingOutcome name to reflect CollisionFree name change. Included it in CollisionFree.

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• Started CollisionFreeOutcome.cpp. Small changed to make it build once it was added as a source file.

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• Wrote toString for CollisionFreeOutcome.

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• Made CollisionFree fill _outcome on a collision (if not nullptr).

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Commits on Nov 27, 2017

• Fixed test files to make tests build. Will run make format in just a sec!

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• Added testing for CollisionFreeOutcome.

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• Use move semantics in CollisionFreeOutcome toString method.

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• Ran make format.

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• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  jslee02

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Commits on Nov 28, 2017

• Adressed nits from @jslee02. Moving to squish those unused param warnings next.

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• Merge branch 'sniyaz/feature/testableConstraintOutput' of https://github.com/personalrobotics/aikido into sniyaz/feature/testableConstraintOutput

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• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  brianhou

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• Silence unused param warning, ran make format again.

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• Used dynamic_cast in CollisionFree when populating outcome fields. Barf if type mismatch.

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• Modify CollisionFreeOutcome to take Contact references as inputs as per feedback from @brianhou. Added a method to get the name from a CollisionObject.

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• Move include of sstream into .cpp file instead of header.

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• Made tests take advantage of programatic acess to data. Required adding a getter for Contact vectors in CollisionFreeOutcome and making getCollisionObjectName public.

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• Made getter methods for Contact vectors const because they can be.

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Commits on Nov 30, 2017

• Address nits from @jslee02.

  evil-sherdil

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• Two small nits I missed in the last commit.

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• Aaaaaand, one more!

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Commits on Dec 1, 2017

• Implemented createOutcome functionality in Testable base class.

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• Use auto collisionOutcome as per request of @brianhou.

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Commits on Dec 5, 2017

• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  evil-sherdil

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• Moved dynamic cast for outcome in CollisionFree.

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• Added method to clear CollisionFreeOutcome. Use this method in CollisionFree so outcome objects can be reused. Also added stuff to test to make sure outcomes can actually be reused.

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• Fixed directory placement of outcome classes. Renamed DummyOutcome ---> DefaultOutcome.

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• Added simple functionality to DefaultOutcome.

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Commits on Dec 6, 2017

• Responded to most recent review comments by making every Testable derivative class implement createOutcome (createOutcome in Testable is now a pure virtual function). Also made each implementation …

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• Run make format.

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• [WIP] Refactor castic logic into helper, and use this in CollisionFree. Will stamp this into every other class now.

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• [WIP] Replace redundant casting login in different Testables with helper.

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• [WIP] Mop up some extra casts that were missed prior.

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• Added documentation.

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• Make CollisionFree a friend class of CollisionFreeOutcome, use Eigen alocator.

  evil-sherdil

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• Modify FrameTestable to "pass through" outcome object to mPoseConstraint.

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• Rename DefaultOutcome ---> DefaultTestableOutcome. Final clean up as well.

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Commits on Dec 7, 2017

• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  brianhou

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• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

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Commits on Dec 8, 2017

• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  brianhou

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Commits on Dec 11, 2017

• Address @mkoval's comments.

  brianhou

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Commits on Dec 12, 2017

• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  jslee02

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Commits on Dec 15, 2017

• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  jslee02

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Commits on Jan 5, 2018

• Update nits: comment and renamed dynamic_cast_if_present to dynamic_cast_or_throw.

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• Undo the use of the Eigen allocator in CollisionFreeOutcome.

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Commits on Jan 6, 2018

• Update CHANGELOG.md

  brianhou

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• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

  brianhou

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• Merge branch 'master' into sniyaz/feature/testableConstraintOutput

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