minor RobotTrajectory patches

[v4hn]

Please look at the individual commits for details.

[felixvd]

1. The chain setter support is cool, but I've seen it nowhere else in the codebase.
2. I can't comment on the make_shared, but the rest LGTM.

[v4hn]

On Wed, Jul 07, 2021 at 03:11:44AM -0700, Felix von Drigalski wrote: 1. The chain setter support is cool, but I've seen it nowhere else in the codebase.

Yes, we could use it in many other places I agree :-)

2. I can't comment on the `make_shared`, but the rest LGTM.

Aside from the fact that it doesn't build right now. ;) I'll look into it.

- trajectory->addSuffixWayPoint(robot_state_, duration_from_previous); + trajectory->addSuffixWayPoint(*robot_state_, duration_from_previous); Why did this API change, even though the function itself did not seem to?

There are two interfaces in the API, one taking a pointer and one taking an actual RobotState. The latter will *copy* the robot state, but the former will only add the pointer. I wanted to have a more proper trajectory for these tests where not all the waypoints refer to the same robot state.

[codecov]

Codecov Report

Merging #2751 (7ac6c6b) into master (097583d) will increase coverage by 0.08%.
The diff coverage is 94.29%.

@@            Coverage Diff             @@
##           master    #2751      +/-   ##
==========================================
+ Coverage   60.47%   60.54%   +0.08%     
==========================================
  Files         402      402              
  Lines       29659    29680      +21     
==========================================
+ Hits        17932    17968      +36     
+ Misses      11727    11712      -15     

Impacted Files	Coverage Δ
...eit_core/robot_trajectory/src/robot_trajectory.cpp	67.88% <87.50%> (+5.93%)	⬆️
...include/moveit/robot_trajectory/robot_trajectory.h	97.37% <100.00%> (+1.72%)	⬆️
...ners/chomp/chomp_interface/src/chomp_interface.cpp	92.60% <0.00%> (-3.70%)	⬇️
...ccupancy_map_monitor/src/occupancy_map_monitor.cpp	47.95% <0.00%> (-2.05%)	⬇️
...meterization/work_space/pose_model_state_space.cpp	82.06% <0.00%> (-0.64%)	⬇️
moveit_core/planning_scene/src/planning_scene.cpp	59.59% <0.00%> (-0.55%)	⬇️
...e/collision_detection_fcl/src/collision_common.cpp	77.92% <0.00%> (-0.25%)	⬇️
...cessing/src/time_optimal_trajectory_generation.cpp	76.07% <0.00%> (-0.16%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	69.16% <0.00%> (-0.13%)	⬇️
...anner/src/trajectory_blender_transition_window.cpp	100.00% <0.00%> (ø)
... and 8 more

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[rhaschke]

Looks good to me. @v4hn, please decide for yourself how you want to merge this (squash vs. merge commit).

[simonschmeisser]

Sorry, late to the party, could you please explain (in another PR) in the comments what it actually means for a RobotTrajectory to have a group set (or what happens when you use the default constructor)

👍 for starting with the comments!