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Draft: OMPL Planner Refactor#138

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marip8 wants to merge 46 commits intotesseract-robotics:mastertesseract-robotics/tesseract_planning:masterfrom marip8:refactor/planner-interfacemarip8/tesseract_planning:refactor/planner-interfaceCopy head branch name to clipboard

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Commits

Commits on Jan 7, 2022

• Added new interfaces for planner profiles; added maps for waypoint, composite, and planner profiles in profile dictionary

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  0edd73c

• Forward declare profile function argument classes

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  6cced55

• Include composite instruction and environment headers where profile dictionary is used

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  467d5ea

Commits on Jan 8, 2022

• Revised flatten utility to ignore subsequent start state instructions in nested composites

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  6da6684

• Updated simple planner interpolate composite function to fill out nested composite start instructions

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  c9deb22

• Updated instruction getter utilities

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  af763b1

• Added test for instruction getter utilities

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  8d653f4

• Added vector insert method to composite instruction

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  6ae1bd1

• Made joint waypoint isApprox method const

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  bd8871d

• Removed OMPL serialization

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  721995d

• Deleted OMPL problem and old problem generators/profiles

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  b1a5f97

• Added OMPL planner profile data; updated OMPL motion planner

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  ca918ed

• Transitioned contents of OMPL problem and problem generator into a new OMPL composite profile for real value state spaces

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  4d30702

• Updated weighted real value state space to accept random seed

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  7292e56

• Added random seed parameter to OMPL RVSS composite profile

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  c5a534d

• Updated OMPL unit tests

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  4d60b03

• Clang format

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  7ced8e6

• Removed OMPL serialization test

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  a8e2fc5

• Support state waypoints in OMPL RVSS composite profile

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  4e68a42

• Check OMPL planner profile to ensure planner factory vector is not empty

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  a0c589b

• Add support for casting request data to simple setup

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  d786538

• Removed unused profile headers from planning server

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  1280f14

• Fixed interpolation of trajectory according to seed

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  26d259c

• Saved OMPL planner data as the response data instead of the simple setup; added skeleton for loading a planner with pre-populated data

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  b3614cb

• Separate start/end states in OMPL unit test to prevent collisions with separating wall during sampling

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  995d6c8

• Implemented first pass at waypoint profile

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  db4c8e1

• Added waypoint profile to unit test

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  659035c

• Fixed creation of trajectory composite instruction

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  7e47aca

• Updated OMPL planner profiles to match new interfaces

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  f6fc3bd

• Collision check joint and state waypoints

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  2d0d98c

• Consolidated solve function under a single try-catch block

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  c1d14ac

• Clear simple setup data to solve correctly for subsequent plans

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  ba029a9

• Simplify logic

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  ca4b420

• Added second waypoint to OMPL test programs

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  d9bf7fd

• Updated freespace example

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  638416a

Commits on Jan 9, 2022

• Added convenience function for getting waypoint, composite, and planner profiles

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  00da67c

• Use helper function in OMPL planner to get profiles

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  637edca

• Copied instruction meta-data from request into response

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  87646ac

• Moved OMPL planner profile to profile directory

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  cf6cff4

• Updated default planner parameters for OMPL

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  75eedee

• Added manipulator info to all instructions in example programs

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  9d5141b

• Added method to planning server for loading default profiles

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  e10eb47

• Update test to add default profiles to planning server

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  e0ff368

• Updated process managers test to use default profile names for all instructions since only the default profiles were added to the planning server

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  57df7d4

• Updated process manager examples to add default profiles and use only default profile names

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  b10353f

Commits on Jan 10, 2022

• Clang tidy fixes

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  e7900e7