Creating stop primitive before unavoidable collisions #3590
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StarrryNight wants to merge 19 commits intoUBC-Thunderbots:masterfrom
Open
Creating stop primitive before unavoidable collisions #3590StarrryNight wants to merge 19 commits intoUBC-Thunderbots:masterfrom
StarrryNight wants to merge 19 commits intoUBC-Thunderbots:masterfrom
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StarrryNight
requested review from
Andrewyx,
sauravbanna and
williamckha
as code owners
This reverts commit ddea16f.
I have no idea why the CI just removes this automatically... I didn't change anything requirement-related
williamckha
previously approved these changes
Feb 7, 2026
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| // The time and obstacle at which the trajectory first collides with an | ||
| // obstacle first_collision_time_s is set to infinity and colliding_obstacle is | ||
| // nullptr if the trajectory does not collide. |
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Nit: nullopt (which is what is being returned) is different from nullptr
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| const double UNAVOIDABLE_COLLISION_TIME_THRESHOLD = 0.2f; | ||
| // Tune | ||
| const double UNAVOIDABLE_COLLISION_VELOCITY_THRESHOLD = 0.5f; |
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Tag a TODO (#xxxx): tune collision threshold constants comment with issue number
StarrryNight
requested review from
a-png129,
annieisawesome2,
nycrat and
williamckha
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Description
This ticket resolve #3587, which is a sub-issue of #2896.
MovePrimitive now return a StopPrimitive if there's an unavoidable collision with a high velocity under a certain time threshold.
Time threshold: time until collision happens. Currently set to 0.2s.
Velocity threshold: Minimum velocity of robot to be considered "high velocity". Currently set to 2.0m/s.
Thresholds can be fine-tuned.
Testing Done
Tested by running thunderscope and logging when unavoidable collisions in a high speed is triggered.
Resolved Issues
Length Justification and Key Files to Review
Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue