{"action":"created","issue":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/1174","repository_url":"https://api.github.com/repos/RoboJackets/robocup-software","labels_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/1174/labels{/name}","comments_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/1174/comments","events_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/1174/events","html_url":"https://github.com/RoboJackets/robocup-software/pull/1174","id":337248506,"node_id":"MDExOlB1bGxSZXF1ZXN0MTk4NDk3ODc1","number":1174,"title":"New Path Planner to Intercept Ball","user":{"login":"JNeiger","id":5797304,"node_id":"MDQ6VXNlcjU3OTczMDQ=","avatar_url":"https://avatars3.githubusercontent.com/u/5797304?v=4","gravatar_id":"","url":"https://api.github.com/users/JNeiger","html_url":"https://github.com/JNeiger","followers_url":"https://api.github.com/users/JNeiger/followers","following_url":"https://api.github.com/users/JNeiger/following{/other_user}","gists_url":"https://api.github.com/users/JNeiger/gists{/gist_id}","starred_url":"https://api.github.com/users/JNeiger/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/JNeiger/subscriptions","organizations_url":"https://api.github.com/users/JNeiger/orgs","repos_url":"https://api.github.com/users/JNeiger/repos","events_url":"https://api.github.com/users/JNeiger/events{/privacy}","received_events_url":"https://api.github.com/users/JNeiger/received_events","type":"User","site_admin":false},"labels":[{"id":73850333,"node_id":"MDU6TGFiZWw3Mzg1MDMzMw==","url":"https://api.github.com/repos/RoboJackets/robocup-software/labels/area%20/%20planning-motion","name":"area / planning-motion","color":"0e8a16","default":false},{"id":434027129,"node_id":"MDU6TGFiZWw0MzQwMjcxMjk=","url":"https://api.github.com/repos/RoboJackets/robocup-software/labels/exp%20/%20expert%20(3)","name":"exp / expert (3)","color":"d4c5f9","default":false},{"id":434027674,"node_id":"MDU6TGFiZWw0MzQwMjc2NzQ=","url":"https://api.github.com/repos/RoboJackets/robocup-software/labels/priority%20/%20medium","name":"priority / medium","color":"fbca04","default":false},{"id":322841627,"node_id":"MDU6TGFiZWwzMjI4NDE2Mjc=","url":"https://api.github.com/repos/RoboJackets/robocup-software/labels/status%20/%20developing","name":"status / developing","color":"5319e7","default":false},{"id":434028285,"node_id":"MDU6TGFiZWw0MzQwMjgyODU=","url":"https://api.github.com/repos/RoboJackets/robocup-software/labels/type%20/%20enhancement","name":"type / enhancement","color":"1d76db","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":6,"created_at":"2018-06-30T22:50:57Z","updated_at":"2018-07-01T02:02:41Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/pulls/1174","html_url":"https://github.com/RoboJackets/robocup-software/pull/1174","diff_url":"https://github.com/RoboJackets/robocup-software/pull/1174.diff","patch_url":"https://github.com/RoboJackets/robocup-software/pull/1174.patch"},"body":"Intercepts ball as quickly as possible. It tries to stop in the path of the ball if there is enough time, but if there isn't, it will just hit the ball while the robot is in motion. This is mostly geared towards the goalie\r\n\r\n@ashaw596 I'm getting some segfaults when I try to test this. It's getting through the run method completely and dies sometime after I return the path. Any ideas where I should look to try and debug it?\r\n\r\nAlso, what happens when I pass a final velocity that is much higher than can realistically be reached in the distance between the start and end of the path? Is it actually smart enough to cut it down to something realistic? Here's specifically the code I'm talking about.\r\n\r\n```\r\npath = RRTPlanner::generatePath(startEndPoints, obstacles, motionConstraints,\r\n                                        startInstant.vel, \r\n                                        mag*motionConstraints.maxSpeed * botToTargetNorm);\r\n```"},"comment":{"url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/comments/401577909","html_url":"https://github.com/RoboJackets/robocup-software/pull/1174#issuecomment-401577909","issue_url":"https://api.github.com/repos/RoboJackets/robocup-software/issues/1174","id":401577909,"node_id":"MDEyOklzc3VlQ29tbWVudDQwMTU3NzkwOQ==","user":{"login":"ashaw596","id":2037510,"node_id":"MDQ6VXNlcjIwMzc1MTA=","avatar_url":"https://avatars0.githubusercontent.com/u/2037510?v=4","gravatar_id":"","url":"https://api.github.com/users/ashaw596","html_url":"https://github.com/ashaw596","followers_url":"https://api.github.com/users/ashaw596/followers","following_url":"https://api.github.com/users/ashaw596/following{/other_user}","gists_url":"https://api.github.com/users/ashaw596/gists{/gist_id}","starred_url":"https://api.github.com/users/ashaw596/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ashaw596/subscriptions","organizations_url":"https://api.github.com/users/ashaw596/orgs","repos_url":"https://api.github.com/users/ashaw596/repos","events_url":"https://api.github.com/users/ashaw596/events{/privacy}","received_events_url":"https://api.github.com/users/ashaw596/received_events","type":"User","site_admin":false},"created_at":"2018-07-01T02:02:41Z","updated_at":"2018-07-01T02:02:41Z","author_association":"CONTRIBUTOR","body":"Hmm. Yeah I checked it in the clion debugger. The robot pointer is a nullptr."}}
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