Peek ahead on next maneuver #172
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virtual onPeekManeuver
onPeekManeuver of the peeked maneuver
Translates the peeked maneuver to a PeekDesiredPath, that is dispatched
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Please also link the pull request for the changed IMC. |
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See LSTS/imc#26 |
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FYI: This has been successfully used by the NTNU Autonaut by @adallolio |
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Hi,
This implements a suggestion as discussed in #155
PlanEngine now dispatches the next maneuver as a maneuver is started. This can then be consumed and interpreted by Maneuver. I've added an example in Goto, which interprets the PeekManeuver into a DesiredPath (using the exact same function that is used when interpreting a Maneuver as a DesiredPath), which is then dispatched (to e.g. the pathcontrollers).
Note that this will also require two new IMC messages, PeekManeuver and PeekDesiredPath, which contain PlanManeuver and DesiredPath, respectively.
Open for inputs and suggestions on this.