Reject enabling IK outside safety radius

[DrDab]

This prevents MissionControlProtocol from setting Globals::armIKEnabled if end effector breaches safety radius.

[abhaybd]

Mostly look good, just some refactoring needed!

[abhaybd]

The changes since my last review look good, but the main architectural issues haven't been resolved. Take a look at my previous comments, the one about the factory function and such, and try to see what you can do there. Let me know if you have any questions! We can talk about it at the next meeting if it helps.

[abhaybd]

Mostly looks good, just left some comments on initialization logic!

Have you tested this in simulation? I suspect this doesn't work right now. Also, can you add to the docs in every method in the controller class to clarify what the behavior is if the controller is uninitialized? I.e. you should mention if these methods should not be called on an uninitialized controller. Also, modify the class documentation to clarify what it means to be uninitialized, and clarify that the constructor creates it in that state.

[huttongrabiel]

lgtm

[DrDab]

Tested on sim with test cases:

• Initialize IK within safety radius (succeeded as expected)
• Initialize IK outside safety radius (failed as expected)
• Re-initialize IK within safety radius after initial failure (succeeded as expected)
• Re-initialize IK within safety radius after initial success (succeeded as expected)
• Re-initialize IK outside safety radius after initial success (failed as expected)

Tested on simulator