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Parallel planning pipelines #1420

Merged
merged 21 commits into from
Nov 3, 2022
Merged

Parallel planning pipelines #1420

merged 21 commits into from
Nov 3, 2022

Commits on Nov 3, 2022

  1. Add setTrajectoryConstraints() to PlanningComponent

    @sjahr
    sjahr committed Nov 3, 2022
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  2. Add planning time to PlanningComponent::PlanSolution

    @sjahr
    sjahr committed Nov 3, 2022
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  3. Replace PlanSolution with MotionPlanResponse

    @sjahr
    sjahr committed Nov 3, 2022
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  4. Address review

    @sjahr
    sjahr committed Nov 3, 2022
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  5. Add MultiPipelinePlanRequestParameters 

    Add plan(const MultiPipelinePlanRequestParameters& parameters)

Add mutex to avoid segfaults

Add optional stop_criterion_callback and solution_selection_callback

Remove stop_criterion_callback

Make default solution_selection_callback = nullptr

Remove parameter handling copy&paste code in favor of a template

Add TODO to refactor pushBack() method into insert()

Fix selection criteria and add RCLCPP_INFO output

Changes due to rebase and formatting

Fix race condition and segfault when no solution is found

Satisfy clang tidy

Remove mutex and thread safety TODOs

Add stopping functionality to parallel planning

Remove unnecessary TODOs
    @sjahr
    sjahr committed Nov 3, 2022
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  6. Fix unused plan solution with failure

    @sjahr
    sjahr committed Nov 3, 2022
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  7. Add sanity check for number of parallel planning problems

    @sjahr
    sjahr committed Nov 3, 2022
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  8. Check stopping criterion when new solution is generated + make thread… 

    … safe
    @sjahr
    sjahr committed Nov 3, 2022
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  9. Add terminatePlanningPipeline() to MoveItCpp interface

    @sjahr
    sjahr committed Nov 3, 2022
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  10. Format!

    @sjahr
    sjahr committed Nov 3, 2022
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  11. Bug fixes

    @sjahr
    sjahr committed Nov 3, 2022
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  12. Move getShortestSolution callback into own function

    @sjahr
    sjahr committed Nov 3, 2022
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  13. No east const

    @sjahr
    sjahr committed Nov 3, 2022
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  14. Remove PlanSolutions and make planner_id accessible

    @sjahr
    sjahr committed Nov 3, 2022
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  15. Make solution executable

    @sjahr
    sjahr committed Nov 3, 2022
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  16. Rename update_last_solution to store_solution

    @sjahr
    sjahr committed Nov 3, 2022
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  17. Alphabetize includes and include plan_solutions.hpp instead of .h

    @sjahr
    sjahr committed Nov 3, 2022
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  18. Address review

    @sjahr
    sjahr committed Nov 3, 2022
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  19. Add missing header

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    sjahr committed Nov 3, 2022
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  20. Apply suggestions from code review 

    Co-authored-by: AndyZe <andyz@utexas.edu>
    @sjahr @AndyZe
    sjahr and AndyZe authored Nov 3, 2022
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  21. Merge branch 'main' into pr-parallel_planning_pipelines

    @sjahr
    sjahr authored Nov 3, 2022
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