Paper spec (take footage), added influenceGain to close loop controller, map has own robot copy, fixed bugs with offset, fixed bugs with sampling, fixed issues with modification of map (map now has its own copy of parameters and the original is reset after modification, added map copy, functions for plotting tree as dipolar paths
Updated RRTController to the new version of RRTMap, Added robot offset to trajectory calculation from path, set axis on plotter to be equal
Simplified footage spec. Added logging path, map, and planned path to Controller handler. Allowed separate close enough measurements (simulation vs execution). Added option to draw a filled polygon to the plotter. Fixed bugs in Map when there was a goal pose. Added noise option to the locomotion handler for basic sim. Added a minimum velocity to the create locomotion command.
Moved the stored path and tree files to a separate folder
Updated RRTMap to include constraints (goal of removing RRTConstMap in the future). RRTMap does not include goal regions, instead there will be a different map made for the goal. Simplified nodes to only have a pose touple and a parent. Created a PoseList class to do sampling of goals and goal reach checks in a generic way regardless of goal regions or poses. General shift away from arrays and towards tuples. Map is now passed into the get path method. Reorganized methods within DipolarRRT. Updated getNodePath so that it takes a goal object with methods for sampling and checking if the goal has been reached. Cleaned up offset addition. Cleaned up and updated methods to work with new Node class. Large general clean up to RRTTest and updates to work with other modifications.
Added files that have been created to learn about protobuf and tcp communication as well as measuring the rate of communication