cache_insert_policy_interface.hpp

Go to the documentation of this file.

// Copyright 2024 Intrinsic Innovation LLC.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#pragma once
 
#include <warehouse_ros/message_collection.h>
#include <moveit/move_group_interface/move_group_interface.hpp>
 
namespace moveit_ros
{
namespace trajectory_cache
{
 
template <typename KeyT, typename ValueT, typename CacheEntryT>
class CacheInsertPolicyInterface
{
public:
  virtual ~CacheInsertPolicyInterface() = default;
 
  virtual std::string getName() const = 0;
 
  virtual moveit::core::MoveItErrorCode
  checkCacheInsertInputs(const moveit::planning_interface::MoveGroupInterface& move_group,
                         const warehouse_ros::MessageCollection<CacheEntryT>& coll, const KeyT& key,
                         const ValueT& value) = 0;
 
  virtual std::vector<typename warehouse_ros::MessageWithMetadata<CacheEntryT>::ConstPtr>
  fetchMatchingEntries(const moveit::planning_interface::MoveGroupInterface& move_group,
                       const warehouse_ros::MessageCollection<CacheEntryT>& coll, const KeyT& key, const ValueT& value,
                       double exact_match_precision) = 0;
 
  virtual bool
  shouldPruneMatchingEntry(const moveit::planning_interface::MoveGroupInterface& move_group, const KeyT& key,
                           const ValueT& value,
                           const typename warehouse_ros::MessageWithMetadata<CacheEntryT>::ConstPtr& matching_entry,
                           std::string* reason) = 0;
 
  virtual bool shouldInsert(const moveit::planning_interface::MoveGroupInterface& move_group, const KeyT& key,
                            const ValueT& value, std::string* reason) = 0;
 
  virtual moveit::core::MoveItErrorCode
  appendInsertMetadata(warehouse_ros::Metadata& metadata,
                       const moveit::planning_interface::MoveGroupInterface& move_group, const KeyT& key,
                       const ValueT& value) = 0;
 
  virtual void reset() = 0;
};
 
}  // namespace trajectory_cache
}  // namespace moveit_ros