{"action":"created","issue":{"url":"https://api.github.com/repos/jhu-asco/aerial_autonomy/issues/181","repository_url":"https://api.github.com/repos/jhu-asco/aerial_autonomy","labels_url":"https://api.github.com/repos/jhu-asco/aerial_autonomy/issues/181/labels{/name}","comments_url":"https://api.github.com/repos/jhu-asco/aerial_autonomy/issues/181/comments","events_url":"https://api.github.com/repos/jhu-asco/aerial_autonomy/issues/181/events","html_url":"https://github.com/jhu-asco/aerial_autonomy/pull/181","id":323400809,"number":181,"title":"Add interface mpc connector","user":{"login":"garimellagowtham","id":4968323,"avatar_url":"https://avatars2.githubusercontent.com/u/4968323?v=4","gravatar_id":"","url":"https://api.github.com/users/garimellagowtham","html_url":"https://github.com/garimellagowtham","followers_url":"https://api.github.com/users/garimellagowtham/followers","following_url":"https://api.github.com/users/garimellagowtham/following{/other_user}","gists_url":"https://api.github.com/users/garimellagowtham/gists{/gist_id}","starred_url":"https://api.github.com/users/garimellagowtham/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/garimellagowtham/subscriptions","organizations_url":"https://api.github.com/users/garimellagowtham/orgs","repos_url":"https://api.github.com/users/garimellagowtham/repos","events_url":"https://api.github.com/users/garimellagowtham/events{/privacy}","received_events_url":"https://api.github.com/users/garimellagowtham/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2018-05-15T22:07:52Z","updated_at":"2018-05-16T18:47:42Z","closed_at":null,"author_association":"COLLABORATOR","pull_request":{"url":"https://api.github.com/repos/jhu-asco/aerial_autonomy/pulls/181","html_url":"https://github.com/jhu-asco/aerial_autonomy/pull/181","diff_url":"https://github.com/jhu-asco/aerial_autonomy/pull/181.diff","patch_url":"https://github.com/jhu-asco/aerial_autonomy/pull/181.patch"},"body":"\n\n<!-- Reviewable:start -->\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/jhu-asco/aerial_autonomy/issues/comments/389625659","html_url":"https://github.com/jhu-asco/aerial_autonomy/pull/181#issuecomment-389625659","issue_url":"https://api.github.com/repos/jhu-asco/aerial_autonomy/issues/181","id":389625659,"user":{"login":"garimellagowtham","id":4968323,"avatar_url":"https://avatars2.githubusercontent.com/u/4968323?v=4","gravatar_id":"","url":"https://api.github.com/users/garimellagowtham","html_url":"https://github.com/garimellagowtham","followers_url":"https://api.github.com/users/garimellagowtham/followers","following_url":"https://api.github.com/users/garimellagowtham/following{/other_user}","gists_url":"https://api.github.com/users/garimellagowtham/gists{/gist_id}","starred_url":"https://api.github.com/users/garimellagowtham/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/garimellagowtham/subscriptions","organizations_url":"https://api.github.com/users/garimellagowtham/orgs","repos_url":"https://api.github.com/users/garimellagowtham/repos","events_url":"https://api.github.com/users/garimellagowtham/events{/privacy}","received_events_url":"https://api.github.com/users/garimellagowtham/received_events","type":"User","site_admin":false},"created_at":"2018-05-16T18:47:42Z","updated_at":"2018-05-16T18:47:42Z","author_association":"COLLABORATOR","body":"\n\n\n\nReview status: 5 of 12 files reviewed at latest revision, 13 unresolved discussions.\n\n---\n\n*[include/aerial_autonomy/controller_connectors/abstract_constraint_generator.h, line 7 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdXju16u3pPLBJN1AN:-LCe8_TZ4jAuaOzh0tDH:b-d65ck7) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/controller_connectors/abstract_constraint_generator.h#L7)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nwhy a struct?\n</blockquote></details>\n\nCurrently, all the functions in this abstract class are public. I can use the class declaration with a public declaration if you want me to!\n\n---\n\n*[include/aerial_autonomy/controller_connectors/abstract_constraint_generator.h, line 9 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdY0nh7brMTYEc7zlt:-LCe8rSCAOYqe-1bcSVp:bb6un1j) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/controller_connectors/abstract_constraint_generator.h#L9)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nnothing requires this to be based on sensor data\n</blockquote></details>\n\nDone\n\n---\n\n*[include/aerial_autonomy/controller_connectors/abstract_control_selector.h, line 11 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdXpTGBVbEdC_cAL7d:-LCe9UaE27qY2YpejHBO:b-jyod6n) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/controller_connectors/abstract_control_selector.h#L11)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nwhy struct?\n</blockquote></details>\n\nAgain all the members are public. I can use the class declaration if you want. I don't see any difference.\n\n---\n\n*[include/aerial_autonomy/controller_connectors/abstract_control_selector.h, line 22 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdYDPd131_jQHQaJrz:-LCe9ffVBM8WHmIay87O:b-x9uorb) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/controller_connectors/abstract_control_selector.h#L22)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\ntime is explicitly not included in the state.  Shouldn't it be given as a param here?\n</blockquote></details>\n\nThe reference trajectory contains times as a vector.\n\n---\n\n*[include/aerial_autonomy/controller_connectors/abstract_control_selector.h, line 22 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdYP6fE_3rjrzKWflD:-LCe9nMO76XbNpavNEN6:b-896fix) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/controller_connectors/abstract_control_selector.h#L22)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\ncurrent_state can also be const ref\n</blockquote></details>\n\nDone.\n\n---\n\n*[include/aerial_autonomy/controller_connectors/mpc_controller_connector.h, line 85 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdgiWQ-BNpnFGh6bGZ:-LCeCEDZAnLBdQRy7aDa:b-896fix) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/controller_connectors/mpc_controller_connector.h#L85)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nmake timing internal to estimator\n</blockquote></details>\n\nDone.\n\n---\n\n*[include/aerial_autonomy/controllers/mpc_controller.h, line 9 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdb2AV-01RhgHrRwlD:-LCeCOIM0466RmGEOWFs:b-896fix) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/controllers/mpc_controller.h#L9)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nsensor data,  goal, and control\n</blockquote></details>\n\nDone.\n\n---\n\n*[include/aerial_autonomy/estimators/state_estimator.h, line 15 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdbFpV86BeV4STAW1L:-LCeCQeJCrKSxEojefqS:b-i0tsfk) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/estimators/state_estimator.h#L15)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\ncurrent time or the duration of the control?\n</blockquote></details>\n\nRemoved the time. The estimator will use the time when the control is received.\n\n---\n\n*[include/aerial_autonomy/estimators/state_estimator.h, line 26 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdbLPKEAdgJH6U7sYy:-LCeCYx19BMokvFTDWTQ:b5sh2o2) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/estimators/state_estimator.h#L26)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\ndoes get state need to be called with a current time, as well,  since you may have to propagate the state if it was updated some time ago?\n</blockquote></details>\n\nIt will produce the state based on when the function is called i.e use it's own internal clock to figure out when getState is called and use that time.\n\n---\n\n*[include/aerial_autonomy/types/quad_state.h, line 19 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdbqwa8L6ofiyyh2Eo:-LCeDBTK5am58RJ-7VQY:b-896fix) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/types/quad_state.h#L19)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nrpy_dot\n</blockquote></details>\n\nDone.\n\n---\n\n*[include/aerial_autonomy/types/quad_state.h, line 23 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdbrsV4IFMavQfFzIo:-LCeDBDcCgmt61q6D8v0:b-896fix) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/types/quad_state.h#L23)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nrpy_desired\n</blockquote></details>\n\nDone.\n\n---\n\n*[include/aerial_autonomy/types/generic_constraint.h, line 1 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCe2CfZAHDhSzM5Zy6l:-LCeCmYx5yKc_pzNTrjn:bb6un1j) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/types/generic_constraint.h#L1)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nname the file constraint\n</blockquote></details>\n\nDone\n\n---\n\n*[include/aerial_autonomy/types/generic_constraint.h, line 40 at r1](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181#-LCdbitc5OXiyeEV7V8I:-LCeD0jU2nvCb7qLEowj:b-896fix) ([raw file](https://github.com/jhu-asco/aerial_autonomy/blob/460db8b35e4fba9350de8c1cad4c5162db04dc0f/include/aerial_autonomy/types/generic_constraint.h#L40)):*\n<details><summary><i>Previously, msheckells (Matt Sheckells) wrote…</i></summary><blockquote>\n\nlength\n</blockquote></details>\n\nDone.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io/reviews/jhu-asco/aerial_autonomy/181)*\n<!-- Sent from Reviewable.io -->\n"}}
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