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Draft: OMPL Planner Refactor #138

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Draft: OMPL Planner Refactor #138

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Commits on Jan 7, 2022

  1. Added new interfaces for planner profiles; added maps for waypoint, c… 

    …omposite, and planner profiles in profile dictionary
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  2. Forward declare profile function argument classes

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  3. Include composite instruction and environment headers where profile d… 

    …ictionary is used
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Commits on Jan 8, 2022

  1. Revised flatten utility to ignore subsequent start state instructions… 

    … in nested composites
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  2. Updated simple planner interpolate composite function to fill out nes… 

    …ted composite start instructions
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  3. Updated instruction getter utilities

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  4. Added test for instruction getter utilities

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  5. Added vector insert method to composite instruction

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  6. Made joint waypoint isApprox method const

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  7. Removed OMPL serialization

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  8. Deleted OMPL problem and old problem generators/profiles

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  9. Added OMPL planner profile data; updated OMPL motion planner

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  10. Transitioned contents of OMPL problem and problem generator into a ne… 

    …w OMPL composite profile for real value state spaces
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  11. Updated weighted real value state space to accept random seed

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  12. Added random seed parameter to OMPL RVSS composite profile

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  13. Updated OMPL unit tests

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  14. Clang format

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  15. Removed OMPL serialization test

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  16. Support state waypoints in OMPL RVSS composite profile

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  17. Check OMPL planner profile to ensure planner factory vector is not empty

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  18. Add support for casting request data to simple setup

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  19. Removed unused profile headers from planning server

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  20. Fixed interpolation of trajectory according to seed

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  21. Saved OMPL planner data as the response data instead of the simple se… 

    …tup; added skeleton for loading a planner with pre-populated data
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  22. Separate start/end states in OMPL unit test to prevent collisions wit… 

    …h separating wall during sampling
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  23. Implemented first pass at waypoint profile

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  24. Added waypoint profile to unit test

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  25. Fixed creation of trajectory composite instruction

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  26. Updated OMPL planner profiles to match new interfaces

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  27. Collision check joint and state waypoints

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  28. Consolidated solve function under a single try-catch block

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  29. Clear simple setup data to solve correctly for subsequent plans

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  30. Simplify logic

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  31. Added second waypoint to OMPL test programs

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  32. Updated freespace example

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Commits on Jan 9, 2022

  1. Added convenience function for getting waypoint, composite, and plann… 

    …er profiles
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  2. Use helper function in OMPL planner to get profiles

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  3. Copied instruction meta-data from request into response

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  4. Moved OMPL planner profile to profile directory

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  5. Updated default planner parameters for OMPL

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  6. Added manipulator info to all instructions in example programs

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  7. Added method to planning server for loading default profiles

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  8. Update test to add default profiles to planning server

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  9. Updated process managers test to use default profile names for all in… 

    …structions since only the default profiles were added to the planning server
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  10. Updated process manager examples to add default profiles and use only… 

    … default profile names
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Commits on Jan 10, 2022

  1. Clang tidy fixes

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