Added the MotionState msg
MotionState class added to ramp_planner, Added a node to test imminent
collision in ramp_debug
Changes made to ramp_planner for MotionState class and msg
Changed Paths to hold KnotPoints and KnotPoints to contain a MotionState. Once we implement the
stop operator with reflexxes, this will enable us to hold both a motion
state and a time to stop at a knot point.
Changes made to path_modification package to account for new
MotionState msg
Changes made to ramp_control and ramp_planner. ramp_control will
publish a MotionState now, rather than a Configuration
Changes made to ramp_debug for MotionState
Changes made to reflexxes to deal with MotionState msgs
All packages build with MotionState msg
Changes made to test trajectory generation with MotionState msg. The
generations is okay, but setting up Reflexxes to work properly with the
Corobot still needs to be done.
Removed updating the target orientation in spinOnce() of reflexxes
code. This made the robot always go back to 0 orientation at the end of the
trajectory because the difference between the current and target will
eventually be 0.
Code added to ensure the orientation at the final knotpoint of a
trajectory is met. This solution works, but there is probably a better
way to do it using the Reflexxes flags.
Some alternative methods added (currently commentted out) to make reflexxes satisfy a goal
orientation. None have worked yet, but I want to save them just in case.
Changes made to clean up reflexxes package in preparation of new
algorithm for generating the trajectories (will do tomorrow)
Removed some variables from header file that I missed yesterday.
Reflexxes will now return a rotate->drive->rotate style of trajectory.
The robot will still not fully reach the goal, however. Also, the source still needs to be cleaned up.
Merge branch 'motion_state_msg'

Conflicts:
	reflexxes/src/reflexxes.cpp