oswinso

Is there any way to "detach" or "stop" gradients to treat an expression as "constant" in a computation? ex. ```python x = SX.sym("x", 2) max_x = mmax(x).detach() unnormalized = exp(x...

Pull request: #1577 Link to TODO, or file number/line: `coordinator.py:30`

Pull request: #1577 Link to TODO, or file number/line: `rj_gameplay/situation/decision_tree/analyzer.py`

We currently don't handle imaginary solutions in trapezoidal_motion.cpp. TODO at `trapezoidal_motion.cpp:101` and `trapezoidal_motion.cpp:64`.

Pull request: #1555 - Refactor Kalman Filter in Vision Filter to work with variable dt - Separate predict, update and merge so they can be called independently Link to TODO,...

Pull request: #1555 Link to TODO, or file number/line: `VisionFilter.hpp:93`

## Description Create a ROS2 topics library. See [google doc on shared libs](https://docs.google.com/document/d/15s3ujORukWZOAAdph_RDP7J0GgPbxMY5jG8LlaYv8Zg/edit) for more details.

AC: TODO issues made for all of the below TODOs, and the corresponding `TODO` updated with the issue number. https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/Processor.cpp#L25-L26 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/Processor.cpp#L204-L207 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/Processor.hpp#L128-L129 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/Robot.cpp#L290-L291 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/Robot.cpp#L493-L496 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/ui/MainWindow.cpp#L322-L323 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/ui/MainWindow.cpp#L1133-L1134 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/motion/MotionControl.cpp#L79-L80 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/motion/TrapezoidalMotion.cpp#L76-L78 https://github.com/RoboJackets/robocup-software/blob/fb55e0963d021e8625778f667260addb33dc9031/soccer/motion/TrapezoidalMotion.cpp#L105-L107 and...

VisionFilter - Process new messages ASAP, separate from the predictions happening at a fixed rate.

1

## Description ## Requirements - Separate predict and update from `vision_filter` KF so that we can handle the predictions separate from processing new messages - Have new messages be handled...

## Description Create a `StampedX` template that has a `RJ::Time stamp` member for easy stamping of structs. AC: Created `StampedX` template.