Call super() constructors when subclassing

- The super() will zero-initialize the properties
- Remove extra constructor stuff, it's not actually needed
- Actually fixes #2

pathfinder/_pathfinder.cpp

@@ -225,23 +225,15 @@ PYBIND11_MODULE(_pathfinder, m) {
 
     // followers/distance.h
     py::class_<FollowerConfig>(m, "FollowerConfig")
-        .def(py::init<>([](){
-            return std::unique_ptr<FollowerConfig>(new FollowerConfig{
-                0.0, 0.0, 0.0, 0.0, 0.0
-            });
-        }))
+        .def(py::init<>())
         .def_readwrite("kp", &FollowerConfig::kp)
         .def_readwrite("ki", &FollowerConfig::ki)
         .def_readwrite("kd", &FollowerConfig::kd)
         .def_readwrite("kv", &FollowerConfig::kv)
         .def_readwrite("ka", &FollowerConfig::ka);
 
     py::class_<DistanceFollower>(m, "DistanceFollower")
-        .def(py::init<>([](){
-            return std::unique_ptr<DistanceFollower>(new DistanceFollower{
-                0.0, 0.0, 0.0, 0, 0
-            });
-        }))
+        .def(py::init<>())
         .def_readwrite("last_error", &DistanceFollower::last_error)
         .def_readwrite("heading", &DistanceFollower::heading)
         .def_readwrite("output", &DistanceFollower::output)
@@ -250,11 +242,7 @@ PYBIND11_MODULE(_pathfinder, m) {
 
     // followers/encoder.h
     py::class_<EncoderConfig>(m, "EncoderConfig")
-        .def(py::init<>([](){
-            return std::unique_ptr<EncoderConfig>(new EncoderConfig{
-                0, 0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
-            });
-        }))
+        .def(py::init<>())
         .def_readwrite("initial_position", &EncoderConfig::initial_position)
         .def_readwrite("ticks_per_revolution", &EncoderConfig::ticks_per_revolution)
         .def_readwrite("wheel_circumference", &EncoderConfig::wheel_circumference)
@@ -265,11 +253,7 @@ PYBIND11_MODULE(_pathfinder, m) {
         .def_readwrite("ka", &EncoderConfig::ka);
 
     py::class_<EncoderFollower>(m, "EncoderFollower")
-        .def(py::init<>([](){
-            return std::unique_ptr<EncoderFollower>(new EncoderFollower{
-                0.0, 0.0, 0.0, 0, 0
-            });
-        }))
+        .def(py::init<>())
         .def_readwrite("last_error", &EncoderFollower::last_error)
         .def_readwrite("heading", &EncoderFollower::heading)
         .def_readwrite("output", &EncoderFollower::output)

pathfinder/followers.py

@@ -27,6 +27,7 @@ class DistanceFollower(_DistanceFollower):
     """
 
     def __init__(self, trajectory: typing.List[Segment]):
+        super().__init__()
         self.trajectory = trajectory
         self.cfg = FollowerConfig()
 
@@ -94,6 +95,7 @@ class EncoderFollower(_EncoderFollower):
     """
 
     def __init__(self, trajectory: typing.List[Segment]):
+        super().__init__()
         self.trajectory = trajectory
         self.cfg = EncoderConfig()