rename core collision plugin loader to cache

to avoid the naming conflict with the old class in moveit_ros. It's basically an enhanced cache, so the name seems fine to me.
moveit · Aug 30, 2021 · e235d92 · e235d92
1 parent 8cf9840
commit e235d92
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Showing 7 changed files with 23 additions and 25 deletions.
diff --git a/MIGRATION.md b/MIGRATION.md
@@ -27,8 +27,6 @@ API changes in MoveIt releases
 - Removed deprecated header `moveit/macros/deprecation.h`. Use `[[deprecated]]` instead.
 - All uses of `MOVEIT_CLASS_FORWARD` et. al. must now be followed by a semicolon for consistency (and to get -pedantic builds to pass for the codebase).
 - In case you start RViz in a namespace, the default topic for the trajectory visualization display now uses the relative instead of the absolute namespace (i.e. `<ns>/move_group/display_planned_path` instead of `/move_group/display_planned_path`).
-- `collision_detection::CollisionPluginLoader` was renamed to `collision_detection::ROSCollisionPluginLoader`
-  A new class `collision_detection::CollisionPluginLoader` provides the core functionality, while the former class just adds the method `setupScene`.
 
 ## ROS Melodic
 

diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
@@ -9,7 +9,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/world.cpp
   src/world_diff.cpp
   src/collision_env.cpp
-  src/collision_plugin_loader.cpp
+  src/collision_plugin_cache.cpp
 )
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 

diff --git a/...ision_detection/collision_plugin_loader.h → ...lision_detection/collision_plugin_cache.h b/...ision_detection/collision_plugin_loader.h → ...lision_detection/collision_plugin_cache.h
@@ -40,11 +40,11 @@
 namespace collision_detection
 {
 /** Helper class to activate a specific collision plugin for a PlanningScene */
-class CollisionPluginLoader
+class CollisionPluginCache
 {
 public:
-  CollisionPluginLoader();
-  ~CollisionPluginLoader();
+  CollisionPluginCache();
+  ~CollisionPluginCache();
 
   /**
    * @brief Activate a specific collision plugin for the given planning scene instance.
@@ -56,8 +56,8 @@ class CollisionPluginLoader
   bool activate(const std::string& name, const planning_scene::PlanningScenePtr& scene, bool exclusive);
 
 private:
-  MOVEIT_CLASS_FORWARD(CollisionPluginLoaderImpl);
-  CollisionPluginLoaderImplPtr loader_;
+  MOVEIT_CLASS_FORWARD(CollisionPluginCacheImpl);
+  CollisionPluginCacheImplPtr cache_;
 };
 
 }  // namespace collision_detection
diff --git a/...detection/src/collision_plugin_loader.cpp → ..._detection/src/collision_plugin_cache.cpp b/...detection/src/collision_plugin_loader.cpp → ..._detection/src/collision_plugin_cache.cpp
@@ -32,23 +32,23 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#include <moveit/collision_detection/collision_plugin_loader.h>
+#include <moveit/collision_detection/collision_plugin_cache.h>
 #include <pluginlib/class_loader.hpp>
 #include <memory>
 
 static const std::string LOGNAME = "collision_detection";
 
 namespace collision_detection
 {
-class CollisionPluginLoader::CollisionPluginLoaderImpl
+class CollisionPluginCache::CollisionPluginCacheImpl
 {
 public:
-  CollisionPluginLoaderImpl()
+  CollisionPluginCacheImpl()
   {
     try
     {
-      loader_ = std::make_shared<pluginlib::ClassLoader<CollisionPlugin>>("moveit_core",
-                                                                          "collision_detection::CollisionPlugin");
+      cache_ = std::make_shared<pluginlib::ClassLoader<CollisionPlugin>>("moveit_core",
+                                                                         "collision_detection::CollisionPlugin");
     }
     catch (pluginlib::PluginlibException& e)
     {
@@ -61,7 +61,7 @@ class CollisionPluginLoader::CollisionPluginLoaderImpl
     CollisionPluginPtr plugin;
     try
     {
-      plugin = loader_->createUniqueInstance(name);
+      plugin = cache_->createUniqueInstance(name);
       plugins_[name] = plugin;
     }
     catch (pluginlib::PluginlibException& ex)
@@ -91,21 +91,21 @@ class CollisionPluginLoader::CollisionPluginLoaderImpl
   }
 
 private:
-  std::shared_ptr<pluginlib::ClassLoader<CollisionPlugin>> loader_;
+  std::shared_ptr<pluginlib::ClassLoader<CollisionPlugin>> cache_;
   std::map<std::string, CollisionPluginPtr> plugins_;
 };
 
-CollisionPluginLoader::CollisionPluginLoader()
+CollisionPluginCache::CollisionPluginCache()
 {
-  loader_ = std::make_shared<CollisionPluginLoaderImpl>();
+  cache_ = std::make_shared<CollisionPluginCacheImpl>();
 }
 
-CollisionPluginLoader::~CollisionPluginLoader() = default;
+CollisionPluginCache::~CollisionPluginCache() = default;
 
-bool CollisionPluginLoader::activate(const std::string& name, const planning_scene::PlanningScenePtr& scene,
-                                     bool exclusive)
+bool CollisionPluginCache::activate(const std::string& name, const planning_scene::PlanningScenePtr& scene,
+                                    bool exclusive)
 {
-  return loader_->activate(name, scene, exclusive);
+  return cache_->activate(name, scene, exclusive);
 }
 
 }  // namespace collision_detection
diff --git a/.../collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h b/.../collision_plugin_loader/include/moveit/collision_plugin_loader/collision_plugin_loader.h
@@ -35,12 +35,12 @@
 #pragma once
 
 #include <ros/ros.h>
-#include <moveit/collision_detection/collision_plugin_loader.h>
+#include <moveit/collision_detection/collision_plugin_cache.h>
 
 namespace collision_detection
 {
 /** Augment CollisionPluginLoader with a method to fetch the plugin name from the ROS parameter server */
-class ROSCollisionPluginLoader : public CollisionPluginLoader
+class CollisionPluginLoader : public CollisionPluginCache
 {
 public:
   /** @brief Fetch plugin name from parameter server and activate the plugin for the given scene */

diff --git a/moveit_ros/planning/collision_plugin_loader/src/collision_plugin_loader.cpp b/moveit_ros/planning/collision_plugin_loader/src/collision_plugin_loader.cpp
@@ -37,7 +37,7 @@
 static const std::string LOGNAME = "collision_detection";
 namespace collision_detection
 {
-void ROSCollisionPluginLoader::setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene)
+void CollisionPluginLoader::setupScene(ros::NodeHandle& nh, const planning_scene::PlanningScenePtr& scene)
 {
   if (!scene)
   {

diff --git a/...ing/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h b/...ing/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h
@@ -581,7 +581,7 @@ class PlanningSceneMonitor : private boost::noncopyable
   robot_model_loader::RobotModelLoaderPtr rm_loader_;
   moveit::core::RobotModelConstPtr robot_model_;
 
-  collision_detection::ROSCollisionPluginLoader collision_loader_;
+  collision_detection::CollisionPluginLoader collision_loader_;
 
   class DynamicReconfigureImpl;
   DynamicReconfigureImpl* reconfigure_impl_;