Add SimplePlannerLVSAssignPlanProfile, SimplePlannerLVSAssignNoIKPlanProfile, SimplePlannerFixedSizeAssignPlanProfile (with IK), rename SimplePlannerFixedSizeAssignNoIKPlanProfile

tesseract_motion_planners/simple/CMakeLists.txt

@@ -2,11 +2,14 @@ add_library(
   ${PROJECT_NAME}_simple
   src/interpolation.cpp
   src/simple_motion_planner.cpp
-  src/profile/simple_planner_profile.cpp
-  src/profile/simple_planner_lvs_plan_profile.cpp
-  src/profile/simple_planner_lvs_no_ik_plan_profile.cpp
+  src/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.cpp
   src/profile/simple_planner_fixed_size_assign_plan_profile.cpp
-  src/profile/simple_planner_fixed_size_plan_profile.cpp)
+  src/profile/simple_planner_fixed_size_plan_profile.cpp
+  src/profile/simple_planner_lvs_assign_no_ik_plan_profile.cpp
+  src/profile/simple_planner_lvs_assign_plan_profile.cpp
+  src/profile/simple_planner_lvs_no_ik_plan_profile.cpp
+  src/profile/simple_planner_lvs_plan_profile.cpp
+  src/profile/simple_planner_profile.cpp)
 target_link_libraries(${PROJECT_NAME}_simple PUBLIC ${PROJECT_NAME}_core Boost::boost)
 target_compile_options(${PROJECT_NAME}_simple PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_simple PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.h

@@ -0,0 +1,70 @@
+/**
+ * @file simple_planner_fixed_size_assign_no_ik_plan_profile.h
+ * @brief
+ *
+ * @author Matthew Powelson
+ * @date July 23, 2020
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2020, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_PLAN_PROFILE_H
+#define TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_PLAN_PROFILE_H
+
+#include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
+
+namespace tesseract_planning
+{
+class SimplePlannerFixedSizeAssignNoIKPlanProfile : public SimplePlannerPlanProfile
+{
+public:
+  using Ptr = std::shared_ptr<SimplePlannerFixedSizeAssignNoIKPlanProfile>;
+  using ConstPtr = std::shared_ptr<const SimplePlannerFixedSizeAssignNoIKPlanProfile>;
+
+  /**
+   * @brief SimplePlannerFixedSizeAssignPlanProfile
+   * @param freespace_steps The number of steps to use for freespace instruction
+   * @param linear_steps The number of steps to use for linear instruction
+   */
+  SimplePlannerFixedSizeAssignNoIKPlanProfile(int freespace_steps = 10, int linear_steps = 10);
+
+  std::vector<MoveInstructionPoly> generate(const MoveInstructionPoly& prev_instruction,
+                                            const MoveInstructionPoly& prev_seed,
+                                            const MoveInstructionPoly& base_instruction,
+                                            const InstructionPoly& next_instruction,
+                                            const std::shared_ptr<const tesseract_environment::Environment>& env,
+                                            const tesseract_common::ManipulatorInfo& global_manip_info) const override;
+
+  /** @brief The number of steps to use for freespace instruction */
+  int freespace_steps;
+
+  /** @brief The number of steps to use for linear instruction */
+  int linear_steps;
+
+protected:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
+};
+
+}  // namespace tesseract_planning
+
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerFixedSizeAssignNoIKPlanProfile)
+
+#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_PLAN_PROFILE_H

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_plan_profile.h

@@ -1,13 +1,13 @@
 /**
- * @file simple_planner_default_plan_profile.h
+ * @file simple_planner_fixed_size_assign_plan_profile.h
  * @brief
  *
- * @author Matthew Powelson
- * @date July 23, 2020
+ * @author Roelof Oomen
+ * @date May 29, 2024
  * @version TODO
  * @bug No known bugs
  *
- * @copyright Copyright (c) 2020, Southwest Research Institute
+ * @copyright Copyright (c) 2024, ROS Industrial Consortium
  *
  * @par License
  * Software License Agreement (Apache License)

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_fixed_size_plan_profile.h

@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_interpolation_plan_profile.h
+ * @file simple_planner_fixed_size_plan_profile.h
  * @brief
  *
  * @author Matthew Powelson

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_plan_profile.h

@@ -0,0 +1,88 @@
+/**
+ * @file simple_planner_lvs_assign_no_ik_plan_profile.h
+ * @brief
+ *
+ * @author Roelof Oomen
+ * @date May 29, 2024
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2024, ROS Industrial Consortium
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_PLAN_PROFILE_H
+#define TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_PLAN_PROFILE_H
+
+#include <tesseract_common/macros.h>
+TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#include <Eigen/Geometry>
+TESSERACT_COMMON_IGNORE_WARNINGS_POP
+
+#include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
+
+namespace tesseract_planning
+{
+class SimplePlannerLVSAssignNoIKPlanProfile : public SimplePlannerPlanProfile
+{
+public:
+  using Ptr = std::shared_ptr<SimplePlannerLVSAssignNoIKPlanProfile>;
+  using ConstPtr = std::shared_ptr<const SimplePlannerLVSAssignNoIKPlanProfile>;
+
+  /**
+   * @brief SimplePlannerFixedSizeAssignPlanProfile
+   * @param freespace_steps The number of steps to use for freespace instruction
+   * @param linear_steps The number of steps to use for linear instruction
+   */
+  SimplePlannerLVSAssignNoIKPlanProfile(double state_longest_valid_segment_length = 5 * M_PI / 180,
+                                        double translation_longest_valid_segment_length = 0.1,
+                                        double rotation_longest_valid_segment_length = 5 * M_PI / 180,
+                                        int min_steps = 1,
+                                        int max_steps = std::numeric_limits<int>::max());
+
+  std::vector<MoveInstructionPoly> generate(const MoveInstructionPoly& prev_instruction,
+                                            const MoveInstructionPoly& prev_seed,
+                                            const MoveInstructionPoly& base_instruction,
+                                            const InstructionPoly& next_instruction,
+                                            const std::shared_ptr<const tesseract_environment::Environment>& env,
+                                            const tesseract_common::ManipulatorInfo& global_manip_info) const override;
+
+  /** @brief The maximum joint distance, the norm of changes to all joint positions between successive steps. */
+  double state_longest_valid_segment_length;
+
+  /** @brief The maximum translation distance between successive steps */
+  double translation_longest_valid_segment_length;
+
+  /** @brief The maximum rotational distance between successive steps */
+  double rotation_longest_valid_segment_length;
+
+  /** @brief The minimum number of steps for the plan */
+  int min_steps;
+
+  /** @brief The maximum number of steps for the plan */
+  int max_steps;
+
+protected:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
+};
+
+}  // namespace tesseract_planning
+
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignNoIKPlanProfile)
+
+#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_PLAN_PROFILE_H

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_plan_profile.h

@@ -0,0 +1,88 @@
+/**
+ * @file simple_planner_lvs_assign_plan_profile.h
+ * @brief
+ *
+ * @author Roelof Oomen
+ * @date March 19, 2024
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2024, ROS Industrial Consortium
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_PLAN_PROFILE_H
+#define TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_PLAN_PROFILE_H
+
+#include <tesseract_common/macros.h>
+TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#include <Eigen/Geometry>
+TESSERACT_COMMON_IGNORE_WARNINGS_POP
+
+#include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
+
+namespace tesseract_planning
+{
+class SimplePlannerLVSAssignPlanProfile : public SimplePlannerPlanProfile
+{
+public:
+  using Ptr = std::shared_ptr<SimplePlannerLVSAssignPlanProfile>;
+  using ConstPtr = std::shared_ptr<const SimplePlannerLVSAssignPlanProfile>;
+
+  /**
+   * @brief SimplePlannerFixedSizeAssignPlanProfile
+   * @param freespace_steps The number of steps to use for freespace instruction
+   * @param linear_steps The number of steps to use for linear instruction
+   */
+  SimplePlannerLVSAssignPlanProfile(double state_longest_valid_segment_length = 5 * M_PI / 180,
+                                    double translation_longest_valid_segment_length = 0.1,
+                                    double rotation_longest_valid_segment_length = 5 * M_PI / 180,
+                                    int min_steps = 1,
+                                    int max_steps = std::numeric_limits<int>::max());
+
+  std::vector<MoveInstructionPoly> generate(const MoveInstructionPoly& prev_instruction,
+                                            const MoveInstructionPoly& prev_seed,
+                                            const MoveInstructionPoly& base_instruction,
+                                            const InstructionPoly& next_instruction,
+                                            const std::shared_ptr<const tesseract_environment::Environment>& env,
+                                            const tesseract_common::ManipulatorInfo& global_manip_info) const override;
+
+  /** @brief The maximum joint distance, the norm of changes to all joint positions between successive steps. */
+  double state_longest_valid_segment_length;
+
+  /** @brief The maximum translation distance between successive steps */
+  double translation_longest_valid_segment_length;
+
+  /** @brief The maximum rotational distance between successive steps */
+  double rotation_longest_valid_segment_length;
+
+  /** @brief The minimum number of steps for the plan */
+  int min_steps;
+
+  /** @brief The maximum number of steps for the plan */
+  int max_steps;
+
+protected:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
+};
+
+}  // namespace tesseract_planning
+
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignPlanProfile)
+
+#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_PLAN_PROFILE_H