Fix bugs in CRRTs. (#574)
* First show at fixing CRRT bugs.
* Respond to code review from AVK.
* Tweak a comment.
* Check manifold res in correct place.
* Update CHANGELOG.
* Tweak changelog.
* Flip an inequality, run make format.
* Clamp connection radius in CRRTConnect instead of checking connection
motion.
* Rename mStepSize -> mProjectionResolution.
* Expose slack factor.
* Rename slack factor to be less scary.
* Undo rename of mMaxStepsize.
* Rename slack factor again.
* Remove name tag.
Co-authored-by: Brian Hou <email address hidden>
Move post-processor params into AIKIDO. (#579)
* Add post-processor params header.
* Add getTrajectoryPostProcessor() method to ConcreteRobot.
* Add postProcessPath() to ConcreteRobot.
* Re-org post-processor params like Brian suggested.
* Leave better comment on PostProcessorParams struct.
* Rename Hauser/Kunz param structs to just `Params`, set default args.
* [WIP] Add new Kunz/Hauser constructors.
* Change getTrajectoryPostProcessor() to take limits.
* Make format.
* Add new postProcessPath() to ConcreteRobot that takes limits.
* [WIP] Think I re-wrote PostProcessorParams.hpp to work but holy cow a
lot broke.
* Move ConcreteRobot post-process stuff to -impl files.
* Actually move Params structs into their PP classes.
* In ConcreteRobot -> postProcessPath(), print and return null instead of
throwing.
* Whoops, tiny bug fix.
* Mark PostProcessorParams -> getParams() as const.
* Respond to nits.
* Update CHANGELOG.
* Update CHANGELOG.
* Respond to some nits.
* Don't dupe postProcessPath() logic.
* Kill PostProcessorParams.hpp.
* Last nits, I think.
* Final final edits?
* More nits.
* Add constructors to param structs.
* Fix bug with missing template params.
Co-authored-by: Brian Hou <email address hidden>