Add a Robot class for Move to Pose Algorithm

[Muhammad-Yazdian]

What does this implement/fix?

• An improvement on move_to_pose.py
• I implemented a Robot class to organize the move to pose algorithm (see image below)
  

Additional information

The advantage of this class is that you can define as many as robots with different specifications (name, color, controller and speed limitations)

CheckList

• the unittest was passed.
• The documents text added. Where should I upload the gif/image?

[lgtm-com]

This pull request introduces 1 alert when merging adaabdd into bf4e682 - view on LGTM.com

new alerts:

• 1 for Unused import

[lgtm-com]

This pull request introduces 1 alert when merging a58dec4 into bf4e682 - view on LGTM.com

new alerts:

• 1 for Unused import

[lgtm-com]

This pull request introduces 1 alert when merging f536c77 into bf4e682 - view on LGTM.com

new alerts:

• 1 for Unused import

[lgtm-com]

This pull request introduces 1 alert when merging f332cbd into bf4e682 - view on LGTM.com

new alerts:

• 1 for Unused import

[Muhammad-Yazdian]

• The Linux_CI says
  • The test for 'test_probabilistic_road_map.py::test1' failed.
  • The 'move_to_pose_robot_class.py' test passed.
  • Do we need to run all test for this PR?

[AtsushiSakai]

Thank you. This is the last review. After addressing these my comments, I will merge it.

[Muhammad-Yazdian]

@AtsushiSakai I think the whole move to pose code algorithm is in a great shape right now. I rename one file; added docstring comments; and updated the documentation. To expedite the process, I have two questions:

1. What tool would you suggest to use for removing trailing whitespaces? I'm using VS Code and it seems that the built-in 'Format Document' feature does not remove trailing whitespaces inside comment/docstring texts.
2. Is there any way that I can preview my the doc after I modify some of its contents?

Thank you

[AtsushiSakai]

What tool would you suggest to use for removing trailing whitespaces? I'm using VS Code and it seems that the built-in 'Format Document' feature does not remove trailing whitespaces inside comment/docstring texts.

I'm not using any tool to remove trailing white spaces in comment/docstring texts. I will try to find a format tool for the issue.

Is there any way that I can preview my the doc after I modify some of its contents?

Usually, you can check the latest doc in Circle CI result Ref
But, It seems that the latest CI result does not have it, maybe if you commit something, it will be shown.

[AtsushiSakai]

I think the doc needs improvement, but the next PR is fine. Let's merge this PR. Thank you for your work!!

[AtsushiSakai]

[General comment] I think the rst doc should focus on the mathematics and the algorithm of the example. Documentation of codes should be in python script as docstrings or header comments. If you have time, please consider to fix the doc in the next PR.

[Muhammad-Yazdian]

@AtsushiSakai Thanks for your comments. I agree to keep the rst doc only for the mathematical explanations. Also, it will be great if we can automatically generate a Reference document based on the docstrings comments. I will try to address your points in my next PR.

Merry Christmas and Happy new Year :)