Feature: lock start end setpoint

[Roelemans]

Closes PM-480

Description

It is now possible to lock the end and startpoint of a subgait to ensure good transition to imported side subgaits. Any change to the side subgait buttons/checkboxes can be undone.

Damn that undo functionality took so much more time than the rest...

Changes

• Added classes SideSubgaitController and SideSubgaitView to handle the view and storage of the side subgaits. This will allow easy extension to more side subgaits if this ever becomes applicable.
• Added logic to lock the start and endpoint of the subgait currently being edited.
• Added logic to allow undo/redo of locking start/end points.
• Wrote tests for new functionality.

[codecov]

Codecov Report

Merging #100 into develop will increase coverage by 3.85%.
The diff coverage is 88.99%.

@@             Coverage Diff             @@
##           develop     #100      +/-   ##
===========================================
+ Coverage    69.09%   72.95%   +3.85%     
===========================================
  Files           15       17       +2     
  Lines         1430     1671     +241     
  Branches       151      186      +35     
===========================================
+ Hits           988     1219     +231     
  Misses         404      404              
- Partials        38       48      +10     

Flag	Coverage Δ
#production	55.47% <82.92%> (+6.29%)	⬆️
#test	99.25% <100.00%> (+0.12%)	⬆️

Impacted Files	Coverage Δ
...rc/march_rqt_gait_generator/gait_generator_view.py	27.14% <25.00%> (-0.07%)	⬇️
.../src/march_rqt_gait_generator/side_subgait_view.py	28.57% <28.57%> (ø)
...ch_rqt_gait_generator/gait_generator_controller.py	83.95% <83.15%> (+5.83%)	⬆️
...arch_rqt_gait_generator/side_subgait_controller.py	94.00% <94.00%> (ø)
...ait_generator/model/modifiable_joint_trajectory.py	92.06% <100.00%> (+2.70%)	⬆️
...r/test/nosetests/gait_generator_controller_test.py	100.00% <100.00%> (ø)
...test/nosetests/modifiable_joint_trajectory_test.py	100.00% <100.00%> (ø)

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[Olavhaasie]

It immediately crashes on startup 😢

[Roelemans]

Sorry 'bout that 😢. Should be fixed now

[RutgerVanBeek]

One comment about the user interaction:

When you 'lock' a point without first specifying how, the point is not locked but the checkbox is checked. I think you should automatically check standing as well in that case as that is kind of your default right now.

[Roelemans]

When you 'lock' a point without first specifying how, the point is not locked but the checkbox is checked. I think you should automatically check standing as well in that case as that is kind of your default right now.

Hmm this was a deliberate choice since I felt this way was the most intuitive. I could also simply lock it to the current position, that makes more sense than defaulting to standing I think. @marnixbrands @gaiavdh what do you think?

[RutgerVanBeek]

Hmm this was a deliberate choice since I felt this way was the most intuitive. I could also simply lock it to the current position, that makes more sense than defaulting to standing I think. @marnixbrands @gaiavdh what do you think?

I think locking into the current position might be nice also. I just think that checking the lock checkbox and then nothing happening is not so intuitive.

[Olavhaasie]

I was playing around a bit with this new feature and found two things:

1. When I imported the sit down gait as previous subgait and played the viz the joints wouldn't move, only when I added a new setpoint.
2. When I then inverted the gait and imported the standing subgait as next subgait it crashed and I got this error:

Traceback (most recent call last):
  File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 53, in <lambda>
    lambda: self.import_side_subgait('next'))
  File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 251, in import_side_subgait
    self.next_subgait = subgait
  File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 422, in next_subgait
    self.handle_sidepoint_lock('next')
  File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_controller.py", line 395, in handle_sidepoint_lock
    self.view.update_joint_widgets(self.subgait.joints)
  File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_view.py", line 173, in update_joint_widgets
    self.update_joint_widget(joint)
  File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/gait_generator_view.py", line 179, in update_joint_widget
    show_effort_plot=self.effort_plot_check_box.isChecked())
  File "/home/olav/march_ws/install/march_rqt_gait_generator/lib/python2.7/dist-packages/march_rqt_gait_generator/joint_plot.py", line 128, in update_setpoints
    [indices, position_data, velocity_data] = joint.interpolate_setpoints()
  File "/home/olav/march_ws/install/march_shared_classes/lib/python2.7/dist-packages/march_shared_classes/gait/joint_trajectory.py", line 93, in interpolate_setpoints
    position = BPoly.from_derivatives(time, yi)
  File "/usr/lib/python2.7/dist-packages/scipy/interpolate/interpolate.py", line 1641, in from_derivatives
    raise ValueError("x coordinates are not in increasing order")
ValueError: x coordinates are not in increasing order

Furthermore, It's kinda fun because now you can just import any two subgaits and create a transition between them 🙂

[Olavhaasie]

Lookin' fine boi 🔥

[marnixbrands]

I think the way it is implemented now is really nice! Locking the current position when no previous/next subgait is selected is a good choice I guess, as you can use the "standing" checkbox to go to the default standing position if you want