stop planning for unnecessary frames #5021
Draft
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Oh boy this PR is embarassing. We are currently planning for every frame on a robot regardless of whether or not we need to move it. The TL;DR of what is happening here is we need to prune the frame system that we pass to the planner of everything that is not moving
Major changes:
movingFS
on the motionChain objectalteredGoals
on goals for components with respect to themselves (it seems like we were doing that always, which kind of doesnt make sense to me, so this might just be a good thing in general)Additional changes: