plugin architecture. Required functionality ● Given start and end robot state, create a motion plan 11Core System contains the Interface class #pragma once #include #include ~IMotionPlanner() = default; virtual bool initialize() = 0; virtual std::vector plan (RobotState start, RobotState goal) = O; }; } This is an abstract class 12Core System contains ~IMotionPlanner() = default; virtual bool initialize() = 0; virtual std::vector plan (RobotState start, RobotState goal) = O; }; } The Robot State comprises of the joint names

metafunctions, … Simplification through generalization Compatibility for C++ Why • What kind • What plan3 green-field language invent new idioms/styles new modules new ecosystem/packagers compatibility metafunctions, … Simplification through generalization Compatibility for C++ Why • What kind • What plan10 Simplicity Efficiency Safety These are not always in tension Judicious abstraction  directly metafunctions, … Simplification through generalization Compatibility for C++ Why • What kind • What plan45 I do believe that there is real value in pursuing functional programming, but it would be irresponsible

anaconda.org Fetching package metadata: .......... Solving package specifications: ......... Package plan for installation in environment /Users/username/anaconda/envs/cxfreeze_py34: The following packages conda.plan._get_best_prec_match as pending deprecation. Use conda.misc. _get_best_prec_match instead. (#12421) • Mark conda.plan._handle_menuinst as pending deprecation. (#12421) • Mark conda.plan._in deprecation. (#12421) • Mark conda.plan._plan_from_actions as pending deprecation. (#12421) • Mark conda.plan.add_defaults_to_specs as pending deprecation. (#12421) • Mark conda.plan.add_unlink as pending deprecation

anaconda.org Fetching package metadata: .......... Solving package specifications: ......... Package plan for installation in environment /Users/username/anaconda/envs/cxfreeze_py34: The following packages conda.plan._get_best_prec_match as pending deprecation. Use conda.misc. _get_best_prec_match instead. (#12421) • Mark conda.plan._handle_menuinst as pending deprecation. (#12421) • Mark conda.plan._in deprecation. (#12421) • Mark conda.plan._plan_from_actions as pending deprecation. (#12421) • Mark conda.plan.add_defaults_to_specs as pending deprecation. (#12421) • Mark conda.plan.add_unlink as pending deprecation

anaconda.org Fetching package metadata: .......... Solving package specifications: ......... Package plan for installation in environment /Users/username/anaconda/envs/cxfreeze_py34: The following packages conda.plan._get_best_prec_match as pending deprecation. Use conda.misc. _get_best_prec_match instead. (#12421) • Mark conda.plan._handle_menuinst as pending deprecation. (#12421) • Mark conda.plan._in deprecation. (#12421) • Mark conda.plan._plan_from_actions as pending deprecation. (#12421) • Mark conda.plan.add_defaults_to_specs as pending deprecation. (#12421) • Mark conda.plan.add_unlink as pending deprecation

anaconda.org Fetching package metadata: .......... Solving package specifications: ......... Package plan for installation in environment /Users/username/anaconda/envs/cxfreeze_py34: The following packages conda.plan._get_best_prec_match as pending deprecation. Use conda.misc. _get_best_prec_match instead. (#12421) • Mark conda.plan._handle_menuinst as pending deprecation. (#12421) • Mark conda.plan._in deprecation. (#12421) • Mark conda.plan._plan_from_actions as pending deprecation. (#12421) • Mark conda.plan.add_defaults_to_specs as pending deprecation. (#12421) • Mark conda.plan.add_unlink as pending deprecation

anaconda.org Fetching package metadata: .......... Solving package specifications: ......... Package plan for installation in environment /Users/username/anaconda/envs/cxfreeze_py34: The following packages conda.plan._get_best_prec_match as pending deprecation. Use conda.misc. _get_best_prec_match instead. (#12421) • Mark conda.plan._handle_menuinst as pending deprecation. (#12421) • Mark conda.plan._in deprecation. (#12421) • Mark conda.plan._plan_from_actions as pending deprecation. (#12421) • Mark conda.plan.add_defaults_to_specs as pending deprecation. (#12421) • Mark conda.plan.add_unlink as pending deprecation

and Partial Applications ● Here is more code that shows closures and partial applications Path plan(Position const& start, Position const& goal, Map const& map) { /* Variable setup */ auto is_occupied goal){ return plan(start, goal, map); }; auto const plan = planner(Position{0, 0}, Position{2, 2}); /* More implementation code */ }Closures and Partial Applications Path plan(Position const& auto const planner = [map](auto const& start, auto const& goal){ return plan(start, goal, map); }; auto const plan = planner(Position{0, 0}, Position{2, 2}); /* More implementation code */ }

How to print? How to print? plan plan 1 First steps plan 1 2 First steps Run to cursor plan 1 2 3 First steps Run to cursor Don’t debug. Print! plan 1 2 3 4 First steps Run to cursor Don’t debug. Print! Attach to process plan 1 2 3 4 5 First steps Run to cursor Don’t debug. Print! Attach to process Debug Goroutines plan Superpower! 1 2 3 4 5 6 First steps Debug Goroutines plan Superpower! 1 2 3 4 5 6 First steps Run to cursor Don’t debug. Print! Attach to process Debug Goroutines Debug! What’s instead? First steps! plan Superpower! 1

anaconda.org Fetching package metadata: .......... Solving package specifications: ......... Package plan for installation in environment /Users/username/anaconda/envs/cxfreeze_py34: The following packages for enhanced response.json() exception handling. (#13346) • Apply callback=reset_context in conda.plan to resolve conda-build + conda-libmamba-solver in- compatibilities. (conda-libmamba-solver#393 and conda.github.io/conda-libmamba-solver. For more information about the conda-libmamba-solver rollout plan, please also see our blog post from earlier this year. Enhancements • Provide --platform and --subdir