Renamed OMPLPlanner -> Planner.

aikido/include/aikido/planner/ompl/OMPLPlanner.hpp → aikido/include/aikido/planner/ompl/Planner.hpp

@@ -133,6 +133,6 @@ trajectory::TrajectoryPtr planOMPL(const ::ompl::base::PlannerPtr &_planner,
 } // namespace planner
 } // namespace aikido
 
-#include "detail/OMPLPlanner-impl.hpp"
+#include "detail/Planner-impl.hpp"
 
 #endif

aikido/src/planner/ompl/CMakeLists.txt

@@ -1,7 +1,7 @@
 aikido_add_library("${PROJECT_NAME}_planner_ompl"
   GeometricStateSpace.cpp
   GoalRegion.cpp
-  OMPLPlanner.cpp
+  Planner.cpp
   StateSampler.cpp
   StateValidityChecker.cpp
 )

aikido/src/planner/ompl/OMPLPlanner.cpp → aikido/src/planner/ompl/Planner.cpp

@@ -1,4 +1,4 @@
-#include <aikido/planner/ompl/OMPLPlanner.hpp>
+#include <aikido/planner/ompl/Planner.hpp>
 #include <aikido/planner/ompl/GeometricStateSpace.hpp>
 #include <aikido/constraint/ConjunctionConstraint.hpp>
 

aikido/tests/planner/ompl/OMPLTestHelpers.hpp

@@ -163,7 +163,7 @@ class FailedSampleGenerator : public aikido::constraint::SampleGenerator {
   aikido::statespace::StateSpacePtr mStateSpace;
 };
 
-class OMPLPlannerTest : public ::testing::Test
+class PlannerTest : public ::testing::Test
 {
 public:
   virtual void SetUp()

aikido/tests/planner/ompl/test_GeometricStateSpace.cpp

@@ -4,7 +4,7 @@
 using aikido::planner::ompl::GeometricStateSpace;
 using StateSpace = aikido::statespace::dart::MetaSkeletonStateSpace;
 
-class GeometricStateSpaceTest : public OMPLPlannerTest
+class GeometricStateSpaceTest : public PlannerTest
 {
 public:
   void constructStateSpace()

aikido/tests/planner/ompl/test_GoalRegion.cpp

@@ -1,18 +1,18 @@
 #include "OMPLTestHelpers.hpp"
 #include "../../constraint/MockConstraints.hpp"
 #include <aikido/planner/ompl/GoalRegion.hpp>
-#include <aikido/planner/ompl/OMPLPlanner.hpp>
+#include <aikido/planner/ompl/Planner.hpp>
 
 using aikido::planner::ompl::GeometricStateSpace;
 using aikido::planner::ompl::GoalRegion;
 using StateSpace = aikido::statespace::dart::MetaSkeletonStateSpace;
 
-class GoalRegionTest : public OMPLPlannerTest
+class GoalRegionTest : public PlannerTest
 {
 public:
   virtual void SetUp()
   {
-    OMPLPlannerTest::SetUp();
+    PlannerTest::SetUp();
     gSpace = std::make_shared<GeometricStateSpace>(
         stateSpace, interpolator, dmetric, sampler, boundsConstraint,
         boundsProjection);

aikido/tests/planner/ompl/test_OMPLGoalSets.cpp

@@ -10,7 +10,7 @@
 #include <aikido/distance/Defaults.hpp>
 #include <aikido/statespace/dart/MetaSkeletonStateSpace.hpp>
 #include <aikido/statespace/GeodesicInterpolator.hpp>
-#include <aikido/planner/ompl/OMPLPlanner.hpp>
+#include <aikido/planner/ompl/Planner.hpp>
 #include <aikido/util/RNG.hpp>
 #include <dart/dart.h>
 #include <gtest/gtest.h>

aikido/tests/planner/ompl/test_OMPLPlanner.cpp

@@ -1,6 +1,6 @@
 #include "OMPLTestHelpers.hpp"
 #include "../../constraint/MockConstraints.hpp"
-#include <aikido/planner/ompl/OMPLPlanner.hpp>
+#include <aikido/planner/ompl/Planner.hpp>
 #include <aikido/constraint/uniform/RealVectorBoxConstraint.hpp>
 #include <aikido/constraint/SampleableSubSpace.h>
 #include <aikido/constraint/TestableSubSpace.hpp>
@@ -11,7 +11,7 @@ using StateSpace = aikido::statespace::dart::MetaSkeletonStateSpace;
 using Rn = aikido::statespace::Rn;
 using aikido::planner::ompl::getSpaceInformation;
 
-TEST_F(OMPLPlannerTest, PlanToConfiguration)
+TEST_F(PlannerTest, PlanToConfiguration)
 {
   Eigen::Vector3d startPose(-5, -5, 0);
   Eigen::Vector3d goalPose(5, 5, 0);
@@ -44,7 +44,7 @@ TEST_F(OMPLPlannerTest, PlanToConfiguration)
   EXPECT_TRUE(r0.getValue().isApprox(goalPose));
 }
 
-TEST_F(OMPLPlannerTest, PlanToGoalRegion)
+TEST_F(PlannerTest, PlanToGoalRegion)
 {
   auto startState = stateSpace->createState();
   Eigen::Vector3d startPose(-5, -5, 0);
@@ -87,7 +87,7 @@ TEST_F(OMPLPlannerTest, PlanToGoalRegion)
   EXPECT_TRUE(goalTestable->isSatisfied(s0));
 }
 
-TEST_F(OMPLPlannerTest, PlanThrowsOnNullGoalTestable)
+TEST_F(PlannerTest, PlanThrowsOnNullGoalTestable)
 {
   auto startState = stateSpace->createState();
   Eigen::Vector3d startPose(-5, -5, 0);
@@ -109,7 +109,7 @@ TEST_F(OMPLPlannerTest, PlanThrowsOnNullGoalTestable)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, PlanThrowsOnGoalTestableMismatch)
+TEST_F(PlannerTest, PlanThrowsOnGoalTestableMismatch)
 {
   auto startState = stateSpace->createState();
   Eigen::Vector3d startPose(-5, -5, 0);
@@ -136,7 +136,7 @@ TEST_F(OMPLPlannerTest, PlanThrowsOnGoalTestableMismatch)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, PlanThrowsOnNullGoalSampler)
+TEST_F(PlannerTest, PlanThrowsOnNullGoalSampler)
 {
   auto startState = stateSpace->createState();
   Eigen::Vector3d startPose(-5, -5, 0);
@@ -157,7 +157,7 @@ TEST_F(OMPLPlannerTest, PlanThrowsOnNullGoalSampler)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, PlanThrowsOnGoalSamplerMismatch)
+TEST_F(PlannerTest, PlanThrowsOnGoalSamplerMismatch)
 {
   auto startState = stateSpace->createState();
   Eigen::Vector3d startPose(-5, -5, 0);
@@ -184,7 +184,7 @@ TEST_F(OMPLPlannerTest, PlanThrowsOnGoalSamplerMismatch)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullStateSpace)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnNullStateSpace)
 {
   EXPECT_THROW(getSpaceInformation(
                    nullptr, std::move(interpolator), std::move(dmetric),
@@ -193,7 +193,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullStateSpace)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullInterpolator)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnNullInterpolator)
 {
   EXPECT_THROW(getSpaceInformation(
                    std::move(stateSpace), nullptr, std::move(dmetric),
@@ -202,7 +202,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullInterpolator)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnInterpolatorMismatch)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnInterpolatorMismatch)
 {
   auto ss = std::make_shared<aikido::statespace::SO2>();
   auto binterpolator =
@@ -216,7 +216,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnInterpolatorMismatch)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullDistanceMetric)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnNullDistanceMetric)
 {
   EXPECT_THROW(getSpaceInformation(
                    std::move(stateSpace), std::move(interpolator), nullptr,
@@ -225,7 +225,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullDistanceMetric)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnDistanceMetricMismatch)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnDistanceMetricMismatch)
 {
   auto ss = std::make_shared<StateSpace>(robot);
   auto dm = aikido::distance::createDistanceMetric(ss);
@@ -237,7 +237,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnDistanceMetricMismatch)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullSampler)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnNullSampler)
 {
   EXPECT_THROW(getSpaceInformation(
                    std::move(stateSpace), std::move(interpolator),
@@ -246,7 +246,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullSampler)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnSamplerMismatch)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnSamplerMismatch)
 {
   auto ss = std::make_shared<StateSpace>(robot);
   auto ds = aikido::constraint::createSampleableBounds(ss, make_rng());
@@ -258,7 +258,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnSamplerMismatch)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullValidityConstraint)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnNullValidityConstraint)
 {
   EXPECT_THROW(getSpaceInformation(
                    std::move(stateSpace), std::move(interpolator),
@@ -267,7 +267,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullValidityConstraint)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnValidityConstraintMismatch)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnValidityConstraintMismatch)
 {
   auto ss = std::make_shared<StateSpace>(robot);
   auto dv = std::make_shared<MockTranslationalRobotConstraint>(
@@ -279,7 +279,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnValidityConstraintMismatch)
                std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullBoundsConstraint)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnNullBoundsConstraint)
 {
   EXPECT_THROW(
       getSpaceInformation(std::move(stateSpace), std::move(interpolator),
@@ -289,7 +289,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullBoundsConstraint)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnBoundsConstraintMismatch)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnBoundsConstraintMismatch)
 {
   auto ss = std::make_shared<StateSpace>(robot);
   auto ds = aikido::constraint::createTestableBounds(ss);
@@ -302,7 +302,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnBoundsConstraintMismatch)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullBoundsProjector)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnNullBoundsProjector)
 {
   EXPECT_THROW(
       getSpaceInformation(std::move(stateSpace), std::move(interpolator),
@@ -312,7 +312,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnNullBoundsProjector)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnBoundsProjectorMismatch)
+TEST_F(PlannerTest, GetSpaceInformationThrowsOnBoundsProjectorMismatch)
 {
   auto ss = std::make_shared<StateSpace>(robot);
   auto ds = aikido::constraint::createProjectableBounds(ss);
@@ -325,7 +325,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationThrowsOnBoundsProjectorMismatch)
       std::invalid_argument);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationNotNull)
+TEST_F(PlannerTest, GetSpaceInformationNotNull)
 {
   auto si = getSpaceInformation(
       std::move(stateSpace), std::move(interpolator), std::move(dmetric),
@@ -334,7 +334,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationNotNull)
   EXPECT_FALSE(si == nullptr);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationCreatesGeometricStateSpace)
+TEST_F(PlannerTest, GetSpaceInformationCreatesGeometricStateSpace)
 {
   auto si = getSpaceInformation(
       std::move(stateSpace), std::move(interpolator), std::move(dmetric),
@@ -346,7 +346,7 @@ TEST_F(OMPLPlannerTest, GetSpaceInformationCreatesGeometricStateSpace)
   EXPECT_FALSE(ss == nullptr);
 }
 
-TEST_F(OMPLPlannerTest, GetSpaceInformationCreatesValidityChecker)
+TEST_F(PlannerTest, GetSpaceInformationCreatesValidityChecker)
 {
   auto si = getSpaceInformation(
       std::move(stateSpace), std::move(interpolator), std::move(dmetric),

aikido/tests/planner/ompl/test_StateSampler.cpp

@@ -5,12 +5,12 @@ using aikido::planner::ompl::GeometricStateSpace;
 using aikido::planner::ompl::StateSampler;
 using StateSpace = aikido::statespace::dart::MetaSkeletonStateSpace;
 
-class StateSamplerTest : public OMPLPlannerTest
+class StateSamplerTest : public PlannerTest
 {
 public:
   virtual void SetUp()
   {
-    OMPLPlannerTest::SetUp();
+    PlannerTest::SetUp();
     gSpace = std::make_shared<GeometricStateSpace>(
         stateSpace, interpolator, dmetric, sampler, boundsConstraint,
         boundsProjection);

aikido/tests/planner/ompl/test_ValidityChecker.cpp

@@ -1,18 +1,18 @@
 #include "OMPLTestHelpers.hpp"
 #include "../../constraint/MockConstraints.hpp"
 #include <aikido/planner/ompl/StateValidityChecker.hpp>
-#include <aikido/planner/ompl/OMPLPlanner.hpp>
+#include <aikido/planner/ompl/Planner.hpp>
 
 using aikido::planner::ompl::GeometricStateSpace;
 using aikido::planner::ompl::StateValidityChecker;
 using StateSpace = aikido::statespace::dart::MetaSkeletonStateSpace;
 
-class StateValidityCheckerTest : public OMPLPlannerTest
+class StateValidityCheckerTest : public PlannerTest
 {
 public:
   virtual void SetUp()
   {
-    OMPLPlannerTest::SetUp();
+    PlannerTest::SetUp();
     gSpace = std::make_shared<GeometricStateSpace>(
         stateSpace, interpolator, dmetric, sampler, boundsConstraint,
         boundsProjection);