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Clean up ConcreteRobot plan methods to take MetaSkeletonStateSpace::State*. #591

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sniyaz opened this issue Oct 15, 2020 · 0 comments
Open

Clean up ConcreteRobot plan methods to take MetaSkeletonStateSpace::State*. #591

sniyaz opened this issue Oct 15, 2020 · 0 comments
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@sniyaz @aditya-vk
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enhancement
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Aikido 0.5.0

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sniyaz commented Oct 15, 2020

During the review of #588, we realized that (for some reason) these methods take StateSpace::State* instead of MetaSkeletonStateSpace::State*. Since we're working with ConcreteRobot we must be working with MetaSkeletonStateSpace::State* (unless the user is doing something very stupid).

We should fix this at some point, potentially during @aditya-vk's refactor of the Robot classes.
@sniyaz sniyaz added this to the Aikido 0.5.0 milestone Oct 15, 2020
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