Description: The library is almost entirely static functions, and everything else is private or package level. This prohibits code re-use and limits alternative use cases than just autonomous pathing. Our team runs 3v3 simulations to predict ball movement, and plan auto routines with other teams. It's been difficult to integrate PathPlanner without recreating all of PathPlanner (We currently have it about 80% rebuilt).
Request: Convert static singletons and data structures to normal objects, so multiple instances can be instantiated and configured. Preferably with protected internals instead of package internals. This should be doable while maintaining the simple-static configuration functions that exist today to not semver break.
Additional Info: I'm willing to put in leg work and get this migrated back to main PathPlanner, but don't want to waste my time if the project philosophy is to continue to make everything static.
Description: The library is almost entirely static functions, and everything else is private or package level. This prohibits code re-use and limits alternative use cases than just autonomous pathing. Our team runs 3v3 simulations to predict ball movement, and plan auto routines with other teams. It's been difficult to integrate PathPlanner without recreating all of PathPlanner (We currently have it about 80% rebuilt).
Request: Convert static singletons and data structures to normal objects, so multiple instances can be instantiated and configured. Preferably with protected internals instead of package internals. This should be doable while maintaining the simple-static configuration functions that exist today to not semver break.
Additional Info: I'm willing to put in leg work and get this migrated back to main PathPlanner, but don't want to waste my time if the project philosophy is to continue to make everything static.