Update casted collision evaluator to handle fixed start and end states #154
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mpowelson
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@mpowelson I clean things up and added documentation to the collision evaluators. I also tested this on the examples and everything works as expected. |
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Remember to remove CI commit |
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I made the requested changes and remove the commit. |
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This updates casted collision evaluator to handle fixed start or end states. Before we just would exclude but that is not ideal because you would periodically get post check failures between the start and first waypoint and next to last waypoint and the end waypoint.
Also this PR includes updating the constructors to pass eigen types by reference. The documentation states not to pass eigen types by value and I know in the past we have had eigen issues.