Restructure tesseract_task_composer like other plugin based packages

tesseract-robotics · Jun 12, 2023 · dd5f9ae · dd5f9ae
1 parent 93fe0c7
commit dd5f9ae
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Showing 110 changed files with 785 additions and 634 deletions.
diff --git a/tesseract_examples/CMakeLists.txt b/tesseract_examples/CMakeLists.txt
@@ -61,6 +61,7 @@ target_link_libraries(
   trajopt::trajopt_sqp
   trajopt::trajopt_ifopt
   tesseract::tesseract_task_composer
+  tesseract::tesseract_task_composer_planning
   console_bridge::console_bridge
   ${PCL_LIBRARIES})
 target_compile_options(${PROJECT_NAME} PUBLIC ${TESSERACT_COMPILE_OPTIONS})

diff --git a/tesseract_examples/src/basic_cartesian_example.cpp b/tesseract_examples/src/basic_cartesian_example.cpp
@@ -48,10 +48,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_plan_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_plan_profile.h>
 
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 
 #include <tesseract_geometry/impl/octree.h>
 
@@ -249,15 +248,15 @@ bool BasicCartesianExample::run()
   input_data.setData(input_key, program);
 
   // Create Task Composer Problem
-  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
   if (plotter_ != nullptr && plotter_->isConnected())
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
 
   // Solve task
   tesseract_common::Timer stopwatch;
   stopwatch.start();
-  TaskComposerInput input(std::move(problem), profiles);
+  TaskComposerInput input(std::move(problem));
   TaskComposerFuture::UPtr future = executor->run(*task, input);
   future->wait();
 

diff --git a/tesseract_examples/src/car_seat_example.cpp b/tesseract_examples/src/car_seat_example.cpp
@@ -41,9 +41,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/move_instruction.h>
 #include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_command_language/utils.h>
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
@@ -306,10 +306,10 @@ bool CarSeatExample::run()
     input_data.setData(input_key, program);
 
     // Create Task Composer Problem
-    auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+    auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
     // Solve task
-    TaskComposerInput input(std::move(problem), profiles);
+    TaskComposerInput input(std::move(problem));
     TaskComposerFuture::UPtr future = executor->run(*task, input);
     future->wait();
 
@@ -395,10 +395,10 @@ bool CarSeatExample::run()
     input_data.setData(input_key, program);
 
     // Create Task Composer Problem
-    auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+    auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
     // Solve task
-    TaskComposerInput input(std::move(problem), profiles);
+    TaskComposerInput input(std::move(problem));
     TaskComposerFuture::UPtr future = executor->run(*task, input);
     future->wait();
 

diff --git a/tesseract_examples/src/freespace_hybrid_example.cpp b/tesseract_examples/src/freespace_hybrid_example.cpp
@@ -41,10 +41,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
 #include <tesseract_motion_planners/core/utils.h>
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 
 #include <tesseract_geometry/impl/sphere.h>
@@ -185,10 +184,10 @@ bool FreespaceHybridExample::run()
   input_data.setData(input_key, program);
 
   // Create Task Composer Problem
-  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
   // Solve task
-  TaskComposerInput input(std::move(problem), profiles);
+  TaskComposerInput input(std::move(problem));
   TaskComposerFuture::UPtr future = executor->run(*task, input);
   future->wait();
 

diff --git a/tesseract_examples/src/freespace_ompl_example.cpp b/tesseract_examples/src/freespace_ompl_example.cpp
@@ -41,10 +41,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_motion_planners/ompl/profile/ompl_default_plan_profile.h>
 #include <tesseract_motion_planners/core/utils.h>
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 
 #include <tesseract_geometry/impl/sphere.h>
@@ -185,10 +184,10 @@ bool FreespaceOMPLExample::run()
   input_data.setData(input_key, program);
 
   // Create Task Composer Problem
-  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
   // Solve task
-  TaskComposerInput input(std::move(problem), profiles);
+  TaskComposerInput input(std::move(problem));
   TaskComposerFuture::UPtr future = executor->run(*task, input);
   future->wait();
 

diff --git a/tesseract_examples/src/glass_upright_example.cpp b/tesseract_examples/src/glass_upright_example.cpp
@@ -38,10 +38,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/joint_waypoint.h>
 #include <tesseract_command_language/move_instruction.h>
 #include <tesseract_command_language/utils.h>
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 
 #include <tesseract_motion_planners/core/utils.h>
@@ -242,15 +241,15 @@ bool GlassUprightExample::run()
   input_data.setData(input_key, program);
 
   // Create Task Composer Problem
-  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
   if (plotter_ != nullptr && plotter_->isConnected())
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
 
   // Solve process plan
   tesseract_common::Timer stopwatch;
   stopwatch.start();
-  TaskComposerInput input(std::move(problem), profiles);
+  TaskComposerInput input(std::move(problem));
   TaskComposerFuture::UPtr future = executor->run(*task, input);
   future->wait();
 

diff --git a/tesseract_examples/src/pick_and_place_example.cpp b/tesseract_examples/src/pick_and_place_example.cpp
@@ -41,11 +41,10 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/joint_waypoint.h>
 #include <tesseract_command_language/move_instruction.h>
 #include <tesseract_command_language/utils.h>
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
-#include <tesseract_task_composer/profiles/contact_check_profile.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/planning/profiles/contact_check_profile.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 
 #include <tesseract_geometry/impl/box.h>
@@ -232,10 +231,10 @@ bool PickAndPlaceExample::run()
   pick_input_data.setData(pick_input_key, pick_program);
 
   // Create Task Composer Problem
-  auto pick_problem = std::make_unique<PlanningTaskComposerProblem>(env_, pick_input_data);
+  auto pick_problem = std::make_unique<PlanningTaskComposerProblem>(env_, pick_input_data, profiles);
 
   // Solve task
-  TaskComposerInput pick_input(std::move(pick_problem), profiles);
+  TaskComposerInput pick_input(std::move(pick_problem));
   TaskComposerFuture::UPtr pick_future = executor->run(*pick_task, pick_input);
   pick_future->wait();
 
@@ -353,10 +352,10 @@ bool PickAndPlaceExample::run()
   place_input_data.setData(place_input_key, place_program);
 
   // Create Task Composer Problem
-  auto place_problem = std::make_unique<PlanningTaskComposerProblem>(env_, place_input_data);
+  auto place_problem = std::make_unique<PlanningTaskComposerProblem>(env_, place_input_data, profiles);
 
   // Solve task
-  TaskComposerInput place_input(std::move(place_problem), profiles);
+  TaskComposerInput place_input(std::move(place_problem));
   TaskComposerFuture::UPtr place_future = executor->run(*place_task, place_input);
   place_future->wait();
 

diff --git a/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp b/tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
@@ -42,10 +42,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
 #include <tesseract_motion_planners/core/utils.h>
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 #include <trajopt_sco/osqp_interface.hpp>
 
@@ -238,10 +237,10 @@ bool PuzzlePieceAuxillaryAxesExample::run()
     plotter_->waitForInput();
 
   // Create Task Composer Problem
-  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
   // Solve task
-  TaskComposerInput input(std::move(problem), profiles);
+  TaskComposerInput input(std::move(problem));
   TaskComposerFuture::UPtr future = executor->run(*task, input);
   future->wait();
 

diff --git a/tesseract_examples/src/puzzle_piece_example.cpp b/tesseract_examples/src/puzzle_piece_example.cpp
@@ -42,10 +42,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h>
 #include <tesseract_motion_planners/trajopt/profile/trajopt_default_solver_profile.h>
 #include <tesseract_motion_planners/core/utils.h>
-#include <tesseract_task_composer/planning_task_composer_problem.h>
-#include <tesseract_task_composer/task_composer_input.h>
-
-#include <tesseract_task_composer/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/planning/planning_task_composer_problem.h>
+#include <tesseract_task_composer/core/task_composer_input.h>
+#include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 #include <tesseract_visualization/markers/toolpath_marker.h>
 
 using namespace trajopt;
@@ -228,10 +227,10 @@ bool PuzzlePieceExample::run()
     plotter_->waitForInput();
 
   // Create Task Composer Problem
-  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data);
+  auto problem = std::make_unique<PlanningTaskComposerProblem>(env_, input_data, profiles);
 
   // Solve task
-  TaskComposerInput input(std::move(problem), profiles);
+  TaskComposerInput input(std::move(problem));
   TaskComposerFuture::UPtr future = executor->run(*task, input);
   future->wait();