Feature/solving graph

[GabrielCosme]

No description provided.

[Copilot]

Pull Request Overview

This PR refactors navigation components to support graph solving and dynamic motion parameters, including updating pose utilities, wall-follow logic, action definitions, FSM naming, and configuration constants.

• Added get_relative_side and hash specialization for GridPose
• Reworked FollowWall, TurnAction, MoveAction, and ActionQueuer APIs to use Config structs and time-based control
• Renamed FSM to Fsm, updated interface events, and refreshed constants and settings

Reviewed Changes

Copilot reviewed 38 out of 38 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
grid_pose.hpp	Added get_relative_side and hash for GridPose
follow_wall.hpp	Updated FollowWall config and methods
costmap.hpp	Changed WallState to enum class
actions/*.hpp	Refactored TurnAction and MoveAction with configs
base.hpp	Enhanced Action base to include IDs and timing
action_queuer.hpp	Expanded ActionQueuer for graph-based sequences
pid_controller.cpp / .hpp	Added first_run to PID and initialization logic
fsm.cpp / fsm.hpp	Renamed FSM to Fsm and updated references
utils.hpp	Changed move_towards to use std::clamp
interface.hpp	Extended events and dip switch state tracking
constants.hpp	Tweaked motion parameters and added new constants
.vscode/settings.json	Cleaned up VSCode settings

Comments suppressed due to low confidence (4)

micras_nav/include/micras/nav/grid_pose.hpp:55

• The to_point method signature takes a GridPoint parameter but the docblock lacks @param grid_point; please add and document this parameter for clarity.

* @param cell_size The size of the grid cells.

micras_nav/include/micras/nav/costmap.hpp:29

• Converting WallState from a plain enum to enum class is an API-breaking change; ensure all uses of WallState are fully qualified (e.g., WallState::WALL) and update any unscoped references.

enum class WallState : uint8_t {

.vscode/settings.json:17

• It looks like the closing ] and comma for fileOrder may be misplaced after removing the clangd.arguments block; please verify the JSON remains valid.

"doxdocgen.file.fileOrder": [

micras_nav/include/micras/nav/action_queuer.hpp:60

• The push_exploring signature now uses origin_pose but the doc still refers to current_pose; please update parameter names in the docblock to match the code.

* @param current_pose Current pose of the robot.