RSDK-6709 - update move_on_map #217
Conversation
stuqdog
requested review from
benjirewis and
njooma
and removed request for
a team and
benjirewis
| const Name& component_name, | ||
| const Name& slam_name, | ||
| const std::shared_ptr<motion_configuration>& motion_configuration, | ||
| const std::vector<GeometryConfig>& obstacles, |
There was a problem hiding this comment.
my knowledge of cpp is very limited so I want to confirm that vector means list.
There was a problem hiding this comment.
Not exactly "list" - more like "dynamic array". Both std::vector and std::list are dynamically sized and bidirectionally iterable. The key difference is that std::vector is guaranteed contiguous, but insertions/deletions can cost reallocation / element-by-element copies, whereas std::list is non-contiguous, but insertions/deletions anywhere are cheap since contiguity isn't in play.
| *request.mutable_component_name() = component_name.to_proto(); | ||
| *request.mutable_slam_service_name() = slam_name.to_proto(); | ||
|
|
||
| for (const auto& obstacle : obstacles) { |
There was a problem hiding this comment.
[q]: does anything special need to happen if the user chooses to not specify any obstacles e.g. use nil?
There was a problem hiding this comment.
So a user couldn't pass nullptr or anything like that because the arg is not a pointer. If they wanted to not specify any obstacles they would want to pass an empty vec (trivial to do, just pass {} as the arg). Nothing special is required in that case.
| const Name& component_name, | ||
| const Name& slam_name, | ||
| const std::shared_ptr<motion_configuration>& motion_configuration, | ||
| const std::vector<GeometryConfig>& obstacles, |
There was a problem hiding this comment.
Not exactly "list" - more like "dynamic array". Both std::vector and std::list are dynamically sized and bidirectionally iterable. The key difference is that std::vector is guaranteed contiguous, but insertions/deletions can cost reallocation / element-by-element copies, whereas std::list is non-contiguous, but insertions/deletions anywhere are cheap since contiguity isn't in play.
3 participants
No description provided.