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Port parallel planning reviews from MoveIt1 #1699

Merged
merged 2 commits into from
Nov 8, 2022
Merged

Port parallel planning reviews from MoveIt1 #1699

merged 2 commits into from
Nov 8, 2022

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sjahr
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@sjahr sjahr commented Nov 7, 2022

Description

This PR ports addressed reviews from @rhaschke to MoveIt2. Most importantly, bool generatePlan(...) becomes const again 👍

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

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codecov bot commented Nov 7, 2022 •
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Codecov Report

Base: 50.97% // Head: 50.97% // No change to project coverage 👍

Coverage data is based on head (a7af4f8) compared to base (abbbb9d).
Patch has no changes to coverable lines.

❗ Current head a7af4f8 differs from pull request most recent head 83039e4. Consider uploading reports for the commit 83039e4 to get more accurate results

Additional details and impacted files 
@@           Coverage Diff           @@
##             main    #1699   +/-   ##
=======================================
  Coverage   50.97%   50.97%           
=======================================
  Files         378      378           
  Lines       31649    31649           
=======================================
  Hits        16131    16131           
  Misses      15518    15518

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rhaschke
rhaschke reviewed Nov 7, 2022
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@rhaschke rhaschke left a comment

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Only two nitpicks:

moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/moveit_cpp.h Outdated Show resolved Hide resolved
moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/plan_solutions.hpp
@@ -39,6 +39,7 @@

#include <algorithm>
#include <moveit/planning_interface/planning_response.h>
#include <mutex>
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Why is that required now (and not before)?

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It build before, probably because we're lucky and the required header was included from somewhere else but I think it is nicer to ensure that everything is included.

@sjahr @rhaschke
Update moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/movei…
83039e4 
…t_cpp.h

Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
@sjahr sjahr requested a review from rhaschke November 7, 2022 17:46
@rhaschke rhaschke merged commit bbb9264 into moveit:main Nov 8, 2022
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@rhaschke rhaschke rhaschke approved these changes

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@sjahr @rhaschke