Upgrade TrajoptLib and replace InitialGuessPoint with Pose2d (Sleipni…

…rGroup#508)

src-tauri/Cargo.toml

@@ -18,7 +18,7 @@ tauri-build = { version = "1.5.2", features = [] }
 tauri = { version = "1.6.6", features = [ "os-all", "window-close", "window-set-title", "path-all", "dialog", "dialog-confirm", "dialog-save", "dialog-open", "dialog-ask", "fs-all", "shell-open", "devtools"] }
 serde = { version = "1.0", features = ["derive"] }
 serde_json = "1.0"
-trajoptlib = { git = "https://github.com/SleipnirGroup/TrajoptLib.git", rev = "86603543a263aac6d5f7e86cd53384a6d3c6bea2" }
+trajoptlib = { git = "https://github.com/SleipnirGroup/TrajoptLib.git", rev = "674240dd0016c9190998cd2e2cd846a4c34756d3" }
 open = "3"
 lazy_static = "1.4.0"
 

src-tauri/src/main.rs

@@ -11,9 +11,7 @@ use tauri::{
     api::{dialog::blocking::FileDialogBuilder, file},
     Manager,
 };
-use trajoptlib::{
-    HolonomicTrajectory, InitialGuessPoint, SwerveDrivetrain, SwerveModule, SwervePathBuilder,
-};
+use trajoptlib::{HolonomicTrajectory, Pose2d, SwerveDrivetrain, SwerveModule, SwervePathBuilder};
 
 #[derive(Clone, serde::Serialize, Debug)]
 struct OpenFileEventPayload<'a> {
@@ -293,11 +291,11 @@ async fn generate_trajectory(
     let mut wpt_cnt: usize = 0;
     let mut rm: Vec<usize> = Vec::new();
     let mut control_interval_counts: Vec<usize> = Vec::new();
-    let mut guess_points_after_waypoint: Vec<InitialGuessPoint> = Vec::new();
+    let mut guess_points_after_waypoint: Vec<Pose2d> = Vec::new();
     for i in 0..path.len() {
         let wpt: &ChoreoWaypoint = &path[i];
         if wpt.isInitialGuess {
-            let guess_point: InitialGuessPoint = InitialGuessPoint {
+            let guess_point = Pose2d {
                 x: wpt.x,
                 y: wpt.y,
                 heading: wpt.heading,