A cache insertion policy that always decides to insert and never decides to prune for motion plan requests. More...

#include <always_insert_never_prune_policy.hpp>

Inheritance diagram for moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy:

Collaboration diagram for moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy:

Public Member Functions
	AlwaysInsertNeverPrunePolicy ()

std::string	getName () const override
	Gets the name of the cache insert policy.

moveit::core::MoveItErrorCode	checkCacheInsertInputs (const moveit::planning_interface::MoveGroupInterface &move_group, const warehouse_ros::MessageCollection< moveit_msgs::msg::RobotTrajectory > &coll, const moveit_msgs::msg::MotionPlanRequest &key, const moveit::planning_interface::MoveGroupInterface::Plan &value) override
	Checks inputs to the cache insert call to see if we should abort instead.

std::vector< warehouse_ros::MessageWithMetadata< moveit_msgs::msg::RobotTrajectory >::ConstPtr >	fetchMatchingEntries (const moveit::planning_interface::MoveGroupInterface &move_group, const warehouse_ros::MessageCollection< moveit_msgs::msg::RobotTrajectory > &coll, const moveit_msgs::msg::MotionPlanRequest &key, const moveit::planning_interface::MoveGroupInterface::Plan &value, double exact_match_precision) override
	Fetches all "matching" cache entries for comparison for pruning.

bool	shouldPruneMatchingEntry (const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::msg::MotionPlanRequest &key, const moveit::planning_interface::MoveGroupInterface::Plan &value, const warehouse_ros::MessageWithMetadata< moveit_msgs::msg::RobotTrajectory >::ConstPtr &matching_entry, std::string *reason=nullptr) override

bool	shouldInsert (const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::msg::MotionPlanRequest &key, const moveit::planning_interface::MoveGroupInterface::Plan &value, std::string *reason=nullptr) override
	Returns whether the insertion candidate should be inserted into the cache.

moveit::core::MoveItErrorCode	appendInsertMetadata (warehouse_ros::Metadata &metadata, const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::msg::MotionPlanRequest &key, const moveit::planning_interface::MoveGroupInterface::Plan &value) override
	Appends the insert metadata with the features supported by the policy.

void	reset () override
	Resets the state of the policy.

Public Member Functions inherited from moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::msg::MotionPlanRequest, moveit::planning_interface::MoveGroupInterface::Plan, moveit_msgs::msg::RobotTrajectory >
virtual	~CacheInsertPolicyInterface ()=default

virtual bool	shouldPruneMatchingEntry (const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::msg::MotionPlanRequest &key, const moveit::planning_interface::MoveGroupInterface::Plan &value, const typename warehouse_ros::MessageWithMetadata< moveit_msgs::msg::RobotTrajectory >::ConstPtr &matching_entry, std::string *reason)=0
	Returns whether a matched cache entry should be pruned.

Static Public Member Functions
static std::vector< std::unique_ptr< FeaturesInterface< moveit_msgs::msg::MotionPlanRequest > > >	getSupportedFeatures (double start_tolerance, double goal_tolerance)
	Configures and returns a vector of feature extractors that can be used with this policy.

Detailed Description

A cache insertion policy that always decides to insert and never decides to prune for motion plan requests.

Supported Metadata and Features ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Appends the following additional metadata, which can be used for querying and sorting:

execution_time_s
planning_time_s

Usable with the motion plan request features:

See also: motion_plan_request_features.hpp; FeaturesInterface<FeatureSourceT>

Matches, Pruning, and Insertion ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ A matching cache entry is one that exactly matches on every one of the features above.

The sort order is ordered on execution_time_s in ascending order (so loweest execution time first). This policy never indicates that pruning should happen, and always indicates that insertion should happen.

Definition at line 75 of file always_insert_never_prune_policy.hpp.

Constructor & Destructor Documentation

◆ AlwaysInsertNeverPrunePolicy()

moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::AlwaysInsertNeverPrunePolicy ( )

Definition at line 74 of file always_insert_never_prune_policy.cpp.

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Member Function Documentation

◆ appendInsertMetadata()

MoveItErrorCode moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::appendInsertMetadata	(	warehouse_ros::Metadata &	metadata,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		const moveit_msgs::msg::MotionPlanRequest &	key,
		const moveit::planning_interface::MoveGroupInterface::Plan &	value
	)

overridevirtual

Appends the insert metadata with the features supported by the policy.

See notes in docstrings regarding the feature contract.

Parameters

[in,out]	metadata.	The metadata to add features to.
[in]	move_group.	The manipulator move group, used to get its state.
[in]	key.	The object used to key the insertion candidate with.
[in]	value.	The object that the TrajectoryCache was passed to insert.

Returns: moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused, and the TrajectoryCache will abort the insert.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::msg::MotionPlanRequest, moveit::planning_interface::MoveGroupInterface::Plan, moveit_msgs::msg::RobotTrajectory >.

Definition at line 192 of file always_insert_never_prune_policy.cpp.

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◆ checkCacheInsertInputs()

MoveItErrorCode moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::checkCacheInsertInputs	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const warehouse_ros::MessageCollection< moveit_msgs::msg::RobotTrajectory > &	coll,
		const moveit_msgs::msg::MotionPlanRequest &	key,
		const moveit::planning_interface::MoveGroupInterface::Plan &	value
	)

overridevirtual

Checks inputs to the cache insert call to see if we should abort instead.

Parameters

[in]	move_group.	The manipulator move group, used to get its state.
[in]	coll.	The cache database to fetch messages from.
[in]	key.	The object used to key the insertion candidate with.
[in]	value.	The object that the TrajectoryCache was passed to insert.

Returns: moveit::core::MoveItErrorCode::SUCCESS if the cache insert should proceed. Otherwise, will return a different error code with the reason why it should not.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::msg::MotionPlanRequest, moveit::planning_interface::MoveGroupInterface::Plan, moveit_msgs::msg::RobotTrajectory >.

Definition at line 104 of file always_insert_never_prune_policy.cpp.

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◆ fetchMatchingEntries()

std::vector< MessageWithMetadata< RobotTrajectory >::ConstPtr > moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::fetchMatchingEntries	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const warehouse_ros::MessageCollection< moveit_msgs::msg::RobotTrajectory > &	coll,
		const moveit_msgs::msg::MotionPlanRequest &	key,
		const moveit::planning_interface::MoveGroupInterface::Plan &	value,
		double	exact_match_precision
	)

overridevirtual

Fetches all "matching" cache entries for comparison for pruning.

This method should be assumed to only return the message metadata without the underlying message data.

The policy should also make the decision about how to sort them. The order in which cache entries are presented to the shouldPruneMatchingEntry will be the order of cache entries returned by this function.

See also: CacheInsertPolicyInterface<KeyT, ValueT, CacheEntryT>::shouldPruneMatchingEntry

Parameters

[in]	move_group.	The manipulator move group, used to get its state.
[in]	coll.	The cache database to fetch messages from.
[in]	key.	The object used to key the insertion candidate with.
[in]	value.	The object that the TrajectoryCache was passed to insert.
[in]	exact_match_precision.	Tolerance for float precision comparison for what counts as an exact match.

Returns: A vector of only the metadata of matching cache entries for use by the other methods.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::msg::MotionPlanRequest, moveit::planning_interface::MoveGroupInterface::Plan, moveit_msgs::msg::RobotTrajectory >.

Definition at line 153 of file always_insert_never_prune_policy.cpp.

◆ getName()

std::string moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::getName ( ) const

overridevirtual

Gets the name of the cache insert policy.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::msg::MotionPlanRequest, moveit::planning_interface::MoveGroupInterface::Plan, moveit_msgs::msg::RobotTrajectory >.

Definition at line 99 of file always_insert_never_prune_policy.cpp.

◆ getSupportedFeatures()

std::vector< std::unique_ptr< FeaturesInterface< MotionPlanRequest > > > moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::getSupportedFeatures	(	double	start_tolerance,
		double	goal_tolerance
	)

static

Configures and returns a vector of feature extractors that can be used with this policy.

Definition at line 81 of file always_insert_never_prune_policy.cpp.

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◆ reset()

void moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::reset ( )

overridevirtual

Resets the state of the policy.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::msg::MotionPlanRequest, moveit::planning_interface::MoveGroupInterface::Plan, moveit_msgs::msg::RobotTrajectory >.

Definition at line 212 of file always_insert_never_prune_policy.cpp.

◆ shouldInsert()

bool moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::shouldInsert	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const moveit_msgs::msg::MotionPlanRequest &	key,
		const moveit::planning_interface::MoveGroupInterface::Plan &	value,
		std::string *	reason = `nullptr`
	)

overridevirtual

Returns whether the insertion candidate should be inserted into the cache.

NOTE: The TrajectoryCache class executes the insert, but this class informs it on whether the insert should happen or not.

Parameters

[in]	move_group.	The manipulator move group, used to get its state.
[in]	key.	The object used to key the insertion candidate with.
[in]	value.	The object that the TrajectoryCache was passed to insert.
[out]	reason.	The reason for the returned result.

Returns: True if the insertion candidate should be inserted into the cache.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::msg::MotionPlanRequest, moveit::planning_interface::MoveGroupInterface::Plan, moveit_msgs::msg::RobotTrajectory >.

Definition at line 181 of file always_insert_never_prune_policy.cpp.

◆ shouldPruneMatchingEntry()

bool moveit_ros::trajectory_cache::AlwaysInsertNeverPrunePolicy::shouldPruneMatchingEntry	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const moveit_msgs::msg::MotionPlanRequest &	key,
		const moveit::planning_interface::MoveGroupInterface::Plan &	value,
		const warehouse_ros::MessageWithMetadata< moveit_msgs::msg::RobotTrajectory >::ConstPtr &	matching_entry,
		std::string *	reason = `nullptr`
	)

override

Definition at line 169 of file always_insert_never_prune_policy.cpp.

The documentation for this class was generated from the following files:

moveit_ros/trajectory_cache/include/moveit/trajectory_cache/cache_insert_policies/always_insert_never_prune_policy.hpp
moveit_ros/trajectory_cache/src/cache_insert_policies/always_insert_never_prune_policy.cpp

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AlwaysInsertNeverPrunePolicy()

Member Function Documentation

◆ appendInsertMetadata()

◆ checkCacheInsertInputs()

◆ fetchMatchingEntries()

◆ getName()

◆ getSupportedFeatures()

◆ reset()

◆ shouldInsert()

◆ shouldPruneMatchingEntry()