Add optional namespace field to task nodes

tesseract_task_composer/README.rst

@@ -53,24 +53,28 @@ This file allows you define Excutors and Tasks (aka Nodes).
                MinLengthTask:
                  class: MinLengthTaskFactory
                  config:
+                   namespace: MinLengthTask # (optional, defaults to parent yaml key name "MinLengthTask")
                    conditional: true
                    inputs: [input_data]
                    outputs: [output_data]
                DescartesMotionPlannerTask:
                  class: DescartesFMotionPlannerTaskFactory
                  config:
+                   namespace: DescartesMotionPlannerTask # (optional, defaults to parent yaml key name "DescartesMotionPlannerTask")
                    conditional: true
                    inputs: [output_data]
                    outputs: [output_data]
                    format_result_as_input: false
                DiscreteContactCheckTask:
                  class: DiscreteContactCheckTaskFactory
                  config:
+                   namespace: DiscreteContactCheckTask # (optional, defaults to parent yaml key name "DiscreteContactCheckTask")
                    conditional: true
                    inputs: [output_data]
                IterativeSplineParameterizationTask:
                  class: IterativeSplineParameterizationTaskFactory
                  config:
+                   namespace: IterativeSplineParameterizationTask # (optional, defaults to parent yaml key name "IterativeSplineParameterizationTask")
                    conditional: true
                    inputs: [output_data]
                    outputs: [output_data]
@@ -150,31 +154,36 @@ Define the graph nodes and edges as shown in the config below.
          MinLengthTask:
            class: MinLengthTaskFactory
            config:
+             namespace: MinLengthTask # (optional)
              conditional: true
              inputs: [input_data]
              outputs: [output_data]
          DescartesMotionPlannerTask:
            class: DescartesFMotionPlannerTaskFactory
            config:
+             namespace: DescartesMotionPlannerTask # (optional)
              conditional: true
              inputs: [output_data]
              outputs: [output_data]
              format_result_as_input: true
          TrajOptMotionPlannerTask:
            class: TrajOptMotionPlannerTaskFactory
            config:
+             namespace: TrajOptMotionPlannerTask # (optional)
              conditional: true
              inputs: [output_data]
              outputs: [output_data]
              format_result_as_input: false
          DiscreteContactCheckTask:
            class: DiscreteContactCheckTaskFactory
            config:
+             namespace: DiscreteContactCheckTask # (optional)
              conditional: true
              inputs: [output_data]
          IterativeSplineParameterizationTask:
            class: IterativeSplineParameterizationTaskFactory
            config:
+             namespace: IterativeSplineParameterizationTask # (optional)
              conditional: true
              inputs: [output_data]
              outputs: [output_data]
@@ -191,7 +200,7 @@ Define the graph nodes and edges as shown in the config below.
            destinations: [ErrorTask, DoneTask]
        terminals: [ErrorTask, DoneTask]
 
-Leveraging a perviously defined task
+Leveraging a previously defined task
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 When using a perviously defined task it is referenced using `task:` instead of `class:`. 
@@ -226,6 +235,97 @@ Also you can indicate that it should abort if a terminal is reached by specifyin
            destinations: [CartesianPipelineTask]
        terminals: [CartesianPipelineTask]
 
+
+Reusing a namespace across multiple tasks
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Sometimes it is desireable to reuse a particular configration of a task. To prevent the need from having to make two entries for the tasks you can use the namespace field under the task config.
+
+Here is an example where the namespace field is used to reuse a contact check configuration.
+
+.. code-block:: yaml
+
+   task_composer_plugins:
+     search_paths:
+       - /usr/local/lib
+     search_libraries:
+       - tesseract_task_composer_factories
+     executors:
+       default: TaskflowExecutor
+       plugins:
+         TaskflowExecutor:
+           class: TaskflowTaskComposerExecutorFactory
+           config:
+             threads: 5
+     tasks:
+       plugins:
+         FreespacePipeline:
+           class: GraphTaskFactory
+           config:
+             inputs: [input_data]
+             outputs: [output_data]
+             nodes:
+               DoneTask:
+                 class: DoneTaskFactory
+                 config:
+                   conditional: false
+               ErrorTask:
+                 class: ErrorTaskFactory
+                 config:
+                   conditional: false
+               MinLengthTask:
+                 class: MinLengthTaskFactory
+                 config:
+                   conditional: true
+                   inputs: [input_data]
+                   outputs: [output_data]
+               TrajOptMotionPlannerTask:
+                 class: TrajOptMotionPlannerTaskFactory
+                 config:
+                   conditional: true
+                   inputs: [output_data]
+                   outputs: [output_data]
+                   format_result_as_input: false
+               ContactCheckTask_1:
+                 class: DiscreteContactCheckTaskFactory
+                 config:
+                   namespace: DiscreteContactCheckTask
+                   conditional: true
+                   inputs: [output_data]
+               OMPLMotionPlannerTask:
+                 class: OMPLMotionPlannerTaskFactory
+                 config:
+                   conditional: true
+                   inputs: [input_data]
+                   outputs: [output_data]
+                   format_result_as_input: false
+               ContactCheckTask_2:
+                 class: DiscreteContactCheckTaskFactory
+                 config:
+                   namespace: DiscreteContactCheckTask
+                   conditional: true
+                   inputs: [output_data]
+               IterativeSplineParameterizationTask:
+                 class: IterativeSplineParameterizationTaskFactory
+                 config:
+                   conditional: true
+                   inputs: [output_data]
+                   outputs: [output_data]
+             edges:
+               - source: MinLengthTask
+                 destinations: [ErrorTask, TrajOptMotionPlannerTask]
+               - source: TrajOptMotionPlannerTask
+                 destinations: [OMPLMotionPlannerTask, ContactCheckTask_1]
+               - source: ContactCheckTask_1
+                 destinations: [OMPLMotionPlannerTask, IterativeSplineParameterizationTask]
+               - source: OMPLMotionPlannerTask
+                 destinations: [ErrorTask, ContactCheckTask_2]
+               - source: ContactCheckTask_2
+                 destinations: [ErrorTask, IterativeSplineParameterizationTask]
+               - source: IterativeSplineParameterizationTask
+                 destinations: [ErrorTask, DoneTask]
+             terminals: [ErrorTask, DoneTask]
+
 Descartes Motion Planner Task
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
@@ -238,6 +338,7 @@ Task for running Descartes motion planner
    DescartesMotionPlannerTask:
      class: DescartesDMotionPlannerTaskFactory
      config:
+       namespace: DescartesMotionPlannerTask # (optional, defaults to parent yaml key name "DescartesMotionPlannerTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -251,6 +352,7 @@ Task for running Descartes motion planner
    DescartesMotionPlannerTask:
      class: DescartesFMotionPlannerTaskFactory
      config:
+       namespace: DescartesMotionPlannerTask # (optional, defaults to parent yaml key name "DescartesMotionPlannerTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -266,6 +368,7 @@ Task for running OMPL motion planner
    OMPLMotionPlannerTask:
      class: OMPLMotionPlannerTaskFactory
      config:
+       namespace: OMPLMotionPlannerTask # (optional, defaults to parent yaml key name "OMPLMotionPlannerTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -281,6 +384,7 @@ Task for running TrajOpt motion planner
    TrajOptMotionPlannerTask:
      class: TrajOptMotionPlannerTaskFactory
      config:
+       namespace: TrajOptMotionPlannerTask # (optional, defaults to parent yaml key name "TrajOptMotionPlannerTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -296,6 +400,7 @@ Task for running TrajOpt Ifopt motion planner
    TrajOptIfoptMotionPlannerTask:
      class: TrajOptIfoptMotionPlannerTaskFactory
      config:
+       namespace: TrajOptIfoptMotionPlannerTask # (optional, defaults to parent yaml key name "TrajOptIfoptMotionPlannerTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -311,6 +416,7 @@ Task for running Simple motion planner
    SimpleMotionPlannerTask:
      class: SimpleMotionPlannerTaskFactory
      config:
+       namespace: SimpleMotionPlannerTask # (optional, defaults to parent yaml key name "SimpleMotionPlannerTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -326,6 +432,7 @@ Perform iterative spline time parameterization
    IterativeSplineParameterizationTask:
      class: IterativeSplineParameterizationTaskFactory
      config:
+       namespace: IterativeSplineParameterizationTask # (optional, defaults to parent yaml key name "IterativeSplineParameterizationTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -341,6 +448,7 @@ Perform time optimal time parameterization
    TimeOptimalParameterizationTask:
      class: TimeOptimalParameterizationTaskFactory
      config:
+       namespace: TimeOptimalParameterizationTask # (optional, defaults to parent yaml key name "TimeOptimalParameterizationTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -355,6 +463,7 @@ Perform trajectory smoothing leveraging Ruckig. Time parameterization must be ra
    RuckigTrajectorySmoothingTask:
      class: RuckigTrajectorySmoothingTaskFactory
      config:
+       namespace: RuckigTrajectorySmoothingTask # (optional, defaults to parent yaml key name "RuckigTrajectorySmoothingTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -421,9 +530,10 @@ Task for checking input data structure
 
 .. code-block:: yaml
 
-   MinLengthTask:
-     class: MinLengthTaskFactory
+   CheckInputTask:
+     class: CheckInputTaskFactory
      config:
+       namespace: CheckInputTask # (optional, defaults to parent yaml key name "CheckInputTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -438,6 +548,7 @@ Continuous collision check trajectory task
    ContinuousContactCheckTask:
      class: ContinuousContactCheckTaskFactory
      config:
+       namespace: ContinuousContactCheckTask # (optional, defaults to parent yaml key name "ContinuousContactCheckTask")
        conditional: true
        inputs: [input_data]
 
@@ -451,6 +562,7 @@ Discrete collision check trajectory task
    DiscreteContactCheckTask:
      class: DiscreteContactCheckTaskFactory
      config:
+       namespace: DiscreteContactCheckTask # (optional, defaults to parent yaml key name "DiscreteContactCheckTask")
        conditional: true
        inputs: [input_data]
 
@@ -516,6 +628,7 @@ This task modifies the input instructions in order to push waypoints that are ou
    FixStateBoundsTask:
      class: FixStateBoundsTaskFactory
      config:
+       namespace: FixStateBoundsTask # (optional, defaults to parent yaml key name "FixStateBoundsTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -533,6 +646,7 @@ This task modifies the input instructions in order to push waypoints that are in
    FixStateCollisionTask:
      class: FixStateCollisionTaskFactory
      config:
+       namespace: FixStateCollisionTask # (optional, defaults to parent yaml key name "FixStateCollisionTask")
        conditional: true
        inputs: [input_data]
        outputs: [output_data]
@@ -547,6 +661,7 @@ Task for processing the input data so it meets a minimum length. Planners like t
    MinLengthTask:
      class: MinLengthTaskFactory
      config:
+       namespace: MinLengthTask # (optional, defaults to parent yaml key name "MinLengthTask")
        conditional: false
        inputs: [input_data]
        outputs: [output_data]
@@ -561,6 +676,7 @@ This task simply returns a value specified in the composite profile. This can be
    ProfileSwitchTask:
      class: ProfileSwitchTaskFactory
      config:
+       namespace: ProfileSwitchTask # (optional, defaults to parent yaml key name "ProfileSwitchTask")
        conditional: false
        inputs: [input_data]
 
@@ -577,6 +693,7 @@ This is used to upsample the results trajectory based on the longest valid segme
    UpsampleTrajectoryTask:
      class: UpsampleTrajectoryTaskFactory
      config:
+       namespace: UpsampleTrajectoryTask # (optional, defaults to parent yaml key name "UpsampleTrajectoryTask")
        conditional: false
        inputs: [input_data]
        outputs: [output_data]

tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h

@@ -71,6 +71,12 @@ class TaskComposerNode
   /** @brief The name of the node */
   const std::string& getName() const;
 
+  /** @brief Set the namespace of the node */
+  void setNamespace(const std::string& ns);
+
+  /** @brief The namespace of the node */
+  const std::string& getNamespace() const;
+
   /** @brief The node type TASK, GRAPH, etc */
   TaskComposerNodeType getType() const;
 
@@ -142,6 +148,9 @@ class TaskComposerNode
   /** @brief The name of the task */
   std::string name_;
 
+  /** @brief The namespace of the task */
+  std::string ns_;
+
   /** @brief The node type */
   TaskComposerNodeType type_;
 

tesseract_task_composer/core/src/task_composer_node.cpp

@@ -39,6 +39,7 @@ namespace tesseract_planning
 {
 TaskComposerNode::TaskComposerNode(std::string name, TaskComposerNodeType type, bool conditional)
   : name_(std::move(name))
+  , ns_(name_)
   , type_(type)
   , uuid_(boost::uuids::random_generator()())
   , uuid_str_(boost::uuids::to_string(uuid_))
@@ -51,6 +52,8 @@ TaskComposerNode::TaskComposerNode(std::string name, TaskComposerNodeType type,
 {
   try
   {
+    ns_ = config["namespace"].IsDefined() ? config["namespace"].as<std::string>() : name_;
+
     if (YAML::Node n = config["conditional"])
       conditional_ = n.as<bool>();
 
@@ -79,6 +82,9 @@ TaskComposerNode::TaskComposerNode(std::string name, TaskComposerNodeType type,
 void TaskComposerNode::setName(const std::string& name) { name_ = name; }
 const std::string& TaskComposerNode::getName() const { return name_; }
 
+void TaskComposerNode::setNamespace(const std::string& ns) { ns_ = ns; }
+const std::string& TaskComposerNode::getNamespace() const { return ns_; }
+
 TaskComposerNodeType TaskComposerNode::getType() const { return type_; }
 
 const boost::uuids::uuid& TaskComposerNode::getUUID() const { return uuid_; }
@@ -134,7 +140,8 @@ std::string TaskComposerNode::dump(std::ostream& os,
 
   if (conditional_)
   {
-    os << std::endl << tmp << " [shape=diamond, label=\"" << name_ << "\\n(" << uuid_str_ << ")";
+    os << std::endl << tmp << " [shape=diamond, label=\"" << name_ << "\\n";
+    os << "Namespace: " << ns_ << "\\n(" << uuid_str_ << ")";
 
     os << "\\n Inputs: [";
     for (std::size_t i = 0; i < input_keys_.size(); ++i)

tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp

@@ -52,7 +52,7 @@ class MotionPlannerTask : public TaskComposerTask
                              bool format_result_as_input,
                              bool conditional)
     : TaskComposerTask(std::move(name), conditional)
-    , planner_(std::make_shared<MotionPlannerType>(name_))
+    , planner_(std::make_shared<MotionPlannerType>(ns_))
     , format_result_as_input_(format_result_as_input)
   {
     input_keys_.push_back(std::move(input_key));
@@ -62,7 +62,7 @@ class MotionPlannerTask : public TaskComposerTask
   explicit MotionPlannerTask(std::string name,  // NOLINT(performance-unnecessary-value-param)
                              const YAML::Node& config,
                              const TaskComposerPluginFactory& /*plugin_factory*/)
-    : TaskComposerTask(std::move(name), config), planner_(std::make_shared<MotionPlannerType>(name_))
+    : TaskComposerTask(std::move(name), config), planner_(std::make_shared<MotionPlannerType>(ns_))
   {
     if (input_keys_.empty())
       throw std::runtime_error("MotionPlannerTask, config missing 'inputs' entry");