{"action":"created","comment":{"url":"https://api.github.com/repos/PalouseRobosub/robosub/pulls/comments/91242621","pull_request_review_id":11750367,"id":91242621,"diff_hunk":"@@ -0,0 +1,156 @@\n+#ifndef CONTROLSYSTEM_HPP\n+#define CONTROLSYSTEM_HPP\n+\n+#include <cstdint>\n+#include <eigen3/Eigen/Dense>\n+#include <string>\n+\n+#include \"geometry_msgs/Quaternion.h\"\n+#include \"geometry_msgs/QuaternionStamped.h\"\n+#include \"robosub/control.h\"\n+#include \"robosub/control_status.h\"\n+#include \"robosub/depth_stamped.h\"\n+#include \"robosub/thruster.h\"\n+#include \"ros/ros.h\"\n+#include \"rotation_engine.hpp\"\n+#include \"tf/transform_datatypes.h\"\n+\n+using namespace Eigen;\n+using std::string;\n+\n+namespace robosub\n+{\n+    class ControlSystem\n+    {\n+        /*\n+         * Define custom types for using Eigen.\n+         */\n+        using Vector6d = Matrix<double,6,1>;\n+        using Vector6 = Matrix<int,6,1> ;\n+        using Vector12d = Matrix<double,12,1>;\n+        using Matrix6d = Matrix<double,6,6>;\n+\n+        /*\n+         * Defines conversion scale for converting between radians and degrees.\n+         */\n+        static constexpr double _PI_OVER_180 = (3.1415 / 180.0);\n+        static constexpr double _180_OVER_PI = (180.0 / 3.14159);","path":"src/movement/control_system.h","position":37,"original_position":37,"commit_id":"8bd0d2b5237e82637dfd3447c7fe9b59c5be5766","original_commit_id":"8bd0d2b5237e82637dfd3447c7fe9b59c5be5766","user":{"login":"ryan-summers","id":8771450,"avatar_url":"https://avatars.githubusercontent.com/u/8771450?v=3","gravatar_id":"","url":"https://api.github.com/users/ryan-summers","html_url":"https://github.com/ryan-summers","followers_url":"https://api.github.com/users/ryan-summers/followers","following_url":"https://api.github.com/users/ryan-summers/following{/other_user}","gists_url":"https://api.github.com/users/ryan-summers/gists{/gist_id}","starred_url":"https://api.github.com/users/ryan-summers/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryan-summers/subscriptions","organizations_url":"https://api.github.com/users/ryan-summers/orgs","repos_url":"https://api.github.com/users/ryan-summers/repos","events_url":"https://api.github.com/users/ryan-summers/events{/privacy}","received_events_url":"https://api.github.com/users/ryan-summers/received_events","type":"User","site_admin":false},"body":"However, also note that these are class specific and those defined in rotation_engine are in the cpp, not the header. As of yet, they are all file-specific parameters.","created_at":"2016-12-07T08:07:16Z","updated_at":"2016-12-07T08:07:16Z","html_url":"https://github.com/PalouseRobosub/robosub/pull/88#discussion_r91242621","pull_request_url":"https://api.github.com/repos/PalouseRobosub/robosub/pulls/88","_links":{"self":{"href":"https://api.github.com/repos/PalouseRobosub/robosub/pulls/comments/91242621"},"html":{"href":"https://github.com/PalouseRobosub/robosub/pull/88#discussion_r91242621"},"pull_request":{"href":"https://api.github.com/repos/PalouseRobosub/robosub/pulls/88"}}},"pull_request":{"url":"https://api.github.com/repos/PalouseRobosub/robosub/pulls/88","id":96470564,"html_url":"https://github.com/PalouseRobosub/robosub/pull/88","diff_url":"https://github.com/PalouseRobosub/robosub/pull/88.diff","patch_url":"https://github.com/PalouseRobosub/robosub/pull/88.patch","issue_url":"https://api.github.com/repos/PalouseRobosub/robosub/issues/88","number":88,"state":"open","locked":false,"title":"Update control system","user":{"login":"ryan-summers","id":8771450,"avatar_url":"https://avatars.githubusercontent.com/u/8771450?v=3","gravatar_id":"","url":"https://api.github.com/users/ryan-summers","html_url":"https://github.com/ryan-summers","followers_url":"https://api.github.com/users/ryan-summers/followers","following_url":"https://api.github.com/users/ryan-summers/following{/other_user}","gists_url":"https://api.github.com/users/ryan-summers/gists{/gist_id}","starred_url":"https://api.github.com/users/ryan-summers/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ryan-summers/subscriptions","organizations_url":"https://api.github.com/users/ryan-summers/orgs","repos_url":"https://api.github.com/users/ryan-summers/repos","events_url":"https://api.github.com/users/ryan-summers/events{/privacy}","received_events_url":"https://api.github.com/users/ryan-summers/received_events","type":"User","site_admin":false},"body":"This changeset removes a number of bugs found in the control system and organizes code into a more understandable fashion. 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