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Use generate parameters library in PlanningPipelineClass + general cleanups #2288

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merged 23 commits into from
Oct 9, 2023

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sjahr
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@sjahr sjahr commented Aug 5, 2023

Description

To avoid breaking MTC moveit/moveit_task_constructor#450 needs to be merged.

  • Use generate parameters library for parameter handling
  • Add nodiscard to return values
  • Some small cleanup suggestions
  • Reduce state of PlanningPipeline class

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

@sjahr sjahr self-assigned this Aug 8, 2023
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mergify bot commented Aug 15, 2023

This pull request is in conflict. Could you fix it @sjahr?

@sjahr sjahr force-pushed the pr-clean_up_planning_pipeline_class branch from e295aca to 6332f31 Compare August 16, 2023 07:52
@sjahr sjahr force-pushed the pr-clean_up_planning_pipeline_class branch from 6332f31 to e9d70d0 Compare September 4, 2023 12:30
@sjahr sjahr marked this pull request as ready for review September 4, 2023 12:33
@sjahr sjahr requested a review from henningkayser September 4, 2023 16:40
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codecov bot commented Sep 4, 2023

Codecov Report

All modified lines are covered by tests ✅

Comparison is base (e2b8ac2) 50.84% compared to head (aff3402) 50.35%.

Additional details and impacted files
@@            Coverage Diff             @@
##             main    #2288      +/-   ##
==========================================
- Coverage   50.84%   50.35%   -0.49%     
==========================================
  Files         386      385       -1     
  Lines       31938    31767     -171     
==========================================
- Hits        16237    15993     -244     
- Misses      15701    15774      +73     

see 8 files with indirect coverage changes

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@sea-bass sea-bass self-requested a review September 12, 2023 14:40
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Code looks good, and I like the cleanup and extra error checks you've done along the way.

Mostly just have one question about changing a few function signatures and whether we should try do a more gradual change? But maybe the default arguments are most often left default and this doesn't have a huge impact?

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@Abishalini Abishalini left a comment

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The changes look good to me. I just have one question

@sjahr sjahr merged commit f949aa0 into moveit:main Oct 9, 2023
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m-elwin pushed a commit to m-elwin/moveit2 that referenced this pull request Dec 4, 2023
…eanups (moveit#2288)

* Don't discard stuff

* Move constants into source file

* Move static consts into header

* Don't ignore pipeline result

* Use generate parameter library for planning pipeline parameters

* Fix CI

* More CI fixes

* Remove more state from planning pipeline

* Small cleanups

* Assert planner_instance_ is not a nullptr

* Remove valid variable

* Simplify logic for trajectory printing

* More helpful comments

* Small logic simplification by using break

* Fix clang-tidy

* Pre-commit + Deprecate functions instead of removing them

* Fix CI
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4 participants