Use default arguments instead of additional functions

moveit · Jul 13, 2023 · ad9ccdc · ad9ccdc
1 parent c9a9e40
commit ad9ccdc
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Showing 2 changed files with 19 additions and 60 deletions.
diff --git a/...anning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h b/...anning_request_adapter/include/moveit/planning_request_adapter/planning_request_adapter.h
@@ -46,6 +46,10 @@
 /** \brief Generic interface to adapting motion planning requests */
 namespace planning_request_adapter
 {
+namespace
+{
+std::vector<std::size_t> EMPTY_PATH_INDEX_VECTOR = {};
+}
 MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapterPtr, ConstPtr, WeakPtr... etc
 
 /** @brief Concept in MoveIt which can be used to modify the planning problem and resulting trajectory (pre-processing
@@ -60,8 +64,6 @@ class PlanningRequestAdapter
       std::function<bool(const planning_scene::PlanningSceneConstPtr&, const planning_interface::MotionPlanRequest&,
                          planning_interface::MotionPlanResponse&)>;
 
-  virtual ~PlanningRequestAdapter() = default;
-
   /** \brief Initialize parameters using the passed Node and parameter namespace.
    *  @param node Node instance used by the adapter
    *  @param parameter_namespace Parameter namespace for adapter
@@ -71,23 +73,7 @@ class PlanningRequestAdapter
   /** \brief Get a description of this adapter
    *  @return Returns a short string that identifies the planning request adapter
    */
-  virtual std::string getDescription() const
-  {
-    return "";
-  }
-
-  /** \brief Adapt the planning request if needed, call the planner
-      function \e planner and update the planning response if
-      needed.
-   *  @param planner Pointer to the planner used to solve the passed problem
-   *  @param planning_scene Representation of the environment for the planning
-   *  @param req Motion planning request with a set of constraints
-   *  @param res Reference to which the generated motion plan response is written to
-   *  @return True if response got generated correctly */
-  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
-                    const planning_scene::PlanningSceneConstPtr& planning_scene,
-                    const planning_interface::MotionPlanRequest& req,
-                    planning_interface::MotionPlanResponse& res) const;
+  [[nodiscard]] virtual std::string getDescription() const = 0;
 
   /** \brief Adapt the planning request if needed, call the planner
       function \e planner and update the planning response if
@@ -103,10 +89,11 @@ class PlanningRequestAdapter
      current state itself appears to touch obstacles). This is helpful because the added states should not be considered
      invalid in all situations.
    *  @return True if response got generated correctly */
-  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
-                    const planning_scene::PlanningSceneConstPtr& planning_scene,
-                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const;
+  [[nodiscard]] bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
+                                  const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                  const planning_interface::MotionPlanRequest& req,
+                                  planning_interface::MotionPlanResponse& res,
+                                  std::vector<std::size_t>& added_path_index = EMPTY_PATH_INDEX_VECTOR) const;
 
   /** \brief Adapt the planning request if needed, call the planner
       function \e planner and update the planning response if
@@ -122,10 +109,10 @@ class PlanningRequestAdapter
         current state itself appears to touch obstacles). This is helpful because the added states should not be
    considered invalid in all situations.
    *  @return True if response got generated correctly */
-  virtual bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
-                            const planning_interface::MotionPlanRequest& req,
-                            planning_interface::MotionPlanResponse& res,
-                            std::vector<std::size_t>& added_path_index) const = 0;
+  [[nodiscard]] virtual bool
+  adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
+               const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
+               std::vector<std::size_t>& added_path_index = EMPTY_PATH_INDEX_VECTOR) const = 0;
 
 protected:
   /** \brief Helper param for getting a parameter using a namespace **/
@@ -157,17 +144,6 @@ class PlanningRequestAdapterChain
    *  @param adapter Adapter to be added */
   void addAdapter(const PlanningRequestAdapterConstPtr& adapter);
 
-  /** \brief Iterate through the chain and call all adapters and planners in the correct order
-   *  @param planner Pointer to the planner used to solve the passed problem
-   *  @param planning_scene Representation of the environment for the planning
-   *  @param req Motion planning request with a set of constraints
-   *  @param res Reference to which the generated motion plan response is written to
-   *  @return True if response got generated correctly */
-  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
-                    const planning_scene::PlanningSceneConstPtr& planning_scene,
-                    const planning_interface::MotionPlanRequest& req,
-                    planning_interface::MotionPlanResponse& res) const;
-
   /** \brief Iterate through the chain and call all adapters and planners in the correct order
    *  @param planner Pointer to the planner used to solve the passed problem
    *  @param planning_scene Representation of the environment for the planning
@@ -178,10 +154,11 @@ class PlanningRequestAdapterChain
           current state itself appears to touch obstacles). This is helpful because the added states should not be
           considered invalid in all situations.
    *  @return True if response got generated correctly */
-  bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
-                    const planning_scene::PlanningSceneConstPtr& planning_scene,
-                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const;
+  [[nodiscard]] bool adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
+                                  const planning_scene::PlanningSceneConstPtr& planning_scene,
+                                  const planning_interface::MotionPlanRequest& req,
+                                  planning_interface::MotionPlanResponse& res,
+                                  std::vector<std::size_t>& added_path_index = EMPTY_PATH_INDEX_VECTOR) const;
 
 private:
   std::vector<PlanningRequestAdapterConstPtr> adapters_;

diff --git a/moveit_core/planning_request_adapter/src/planning_request_adapter.cpp b/moveit_core/planning_request_adapter/src/planning_request_adapter.cpp
@@ -98,29 +98,11 @@ bool PlanningRequestAdapter::adaptAndPlan(const planning_interface::PlannerManag
       planning_scene, req, res, added_path_index);
 }
 
-bool PlanningRequestAdapter::adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
-                                          const planning_scene::PlanningSceneConstPtr& planning_scene,
-                                          const planning_interface::MotionPlanRequest& req,
-                                          planning_interface::MotionPlanResponse& res) const
-{
-  std::vector<std::size_t> empty_added_path_index;
-  return adaptAndPlan(planner, planning_scene, req, res, empty_added_path_index);
-}
-
 void PlanningRequestAdapterChain::addAdapter(const PlanningRequestAdapterConstPtr& adapter)
 {
   adapters_.push_back(adapter);
 }
 
-bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
-                                               const planning_scene::PlanningSceneConstPtr& planning_scene,
-                                               const planning_interface::MotionPlanRequest& req,
-                                               planning_interface::MotionPlanResponse& res) const
-{
-  std::vector<std::size_t> empty_added_path_index;
-  return adaptAndPlan(planner, planning_scene, req, res, empty_added_path_index);
-}
-
 bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                                                const planning_scene::PlanningSceneConstPtr& planning_scene,
                                                const planning_interface::MotionPlanRequest& req,