A cache insertion policy that only decides to insert if the motion plan is the one with the shortest execution time seen so far amongst exactly matching GetCartesianPath requests. More...

#include <best_seen_execution_time_policy.hpp>

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Public Member Functions
	CartesianBestSeenExecutionTimePolicy ()

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::srv::GetCartesianPath::Request &key, const moveit_msgs::srv::GetCartesianPath::Response &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::srv::GetCartesianPath::Request &key, const moveit_msgs::srv::GetCartesianPath::Response &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::srv::GetCartesianPath::Request &key, const moveit_msgs::srv::GetCartesianPath::Response &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::srv::GetCartesianPath::Request &key, const moveit_msgs::srv::GetCartesianPath::Response &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::srv::GetCartesianPath::Request &key, const moveit_msgs::srv::GetCartesianPath::Response &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::srv::GetCartesianPath::Request, moveit_msgs::srv::GetCartesianPath::Response, moveit_msgs::msg::RobotTrajectory >
virtual	~CacheInsertPolicyInterface ()=default

virtual bool	shouldPruneMatchingEntry (const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::srv::GetCartesianPath::Request &key, const moveit_msgs::srv::GetCartesianPath::Response &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::srv::GetCartesianPath::Request > > >	getSupportedFeatures (double start_tolerance, double goal_tolerance, double min_fraction)
	Configures and returns a vector of feature extractors that can be used with this policy.

Detailed Description

A cache insertion policy that only decides to insert if the motion plan is the one with the shortest execution time seen so far amongst exactly matching GetCartesianPath requests.

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

fraction
execution_time_s

NOTE: Planning time is not available. If you want to use it, add it as an additional MetadataOnly feature in the cache insert call.

Compatible with the get cartesian path request features:

See also: get_cartesian_path_request_features.hpp; constant_features.hpp; FeaturesInterface<FeatureSourceT>

Matches and Pruning ^^^^^^^^^^^^^^^^^^^ A matching cache entry is one that has a GetCartesianPath request 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 indicates that pruning should happen if there are any exactly matching plans that are worse than the insertion candidate.

REMINDER: The TrajectoryCache still decides to honor the prune indication or not, based off the parameters passed to the insert call.

Insertion ^^^^^^^^^ This policy indicates that insertion should happen if the candidate plan is the best seen in terms of shortest execution time than other plans with exactly matching GetCartesianPath requests.

This policy aggregates state in the fetchMatchingEntries call to facilitate this.

Definition at line 194 of file best_seen_execution_time_policy.hpp.

Constructor & Destructor Documentation

◆ CartesianBestSeenExecutionTimePolicy()

moveit_ros::trajectory_cache::CartesianBestSeenExecutionTimePolicy::CartesianBestSeenExecutionTimePolicy ( )

Definition at line 271 of file best_seen_execution_time_policy.cpp.

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Member Function Documentation

◆ appendInsertMetadata()

MoveItErrorCode moveit_ros::trajectory_cache::CartesianBestSeenExecutionTimePolicy::appendInsertMetadata	(	warehouse_ros::Metadata &	metadata,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		const moveit_msgs::srv::GetCartesianPath::Request &	key,
		const moveit_msgs::srv::GetCartesianPath::Response &	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::srv::GetCartesianPath::Request, moveit_msgs::srv::GetCartesianPath::Response, moveit_msgs::msg::RobotTrajectory >.

Definition at line 441 of file best_seen_execution_time_policy.cpp.

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◆ checkCacheInsertInputs()

MoveItErrorCode moveit_ros::trajectory_cache::CartesianBestSeenExecutionTimePolicy::checkCacheInsertInputs	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const warehouse_ros::MessageCollection< moveit_msgs::msg::RobotTrajectory > &	coll,
		const moveit_msgs::srv::GetCartesianPath::Request &	key,
		const moveit_msgs::srv::GetCartesianPath::Response &	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::srv::GetCartesianPath::Request, moveit_msgs::srv::GetCartesianPath::Response, moveit_msgs::msg::RobotTrajectory >.

Definition at line 307 of file best_seen_execution_time_policy.cpp.

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◆ fetchMatchingEntries()

std::vector< MessageWithMetadata< RobotTrajectory >::ConstPtr > moveit_ros::trajectory_cache::CartesianBestSeenExecutionTimePolicy::fetchMatchingEntries	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const warehouse_ros::MessageCollection< moveit_msgs::msg::RobotTrajectory > &	coll,
		const moveit_msgs::srv::GetCartesianPath::Request &	key,
		const moveit_msgs::srv::GetCartesianPath::Response &	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::srv::GetCartesianPath::Request, moveit_msgs::srv::GetCartesianPath::Response, moveit_msgs::msg::RobotTrajectory >.

Definition at line 355 of file best_seen_execution_time_policy.cpp.

◆ getName()

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

overridevirtual

Gets the name of the cache insert policy.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::srv::GetCartesianPath::Request, moveit_msgs::srv::GetCartesianPath::Response, moveit_msgs::msg::RobotTrajectory >.

Definition at line 302 of file best_seen_execution_time_policy.cpp.

◆ getSupportedFeatures()

std::vector< std::unique_ptr< FeaturesInterface< GetCartesianPath::Request > > > moveit_ros::trajectory_cache::CartesianBestSeenExecutionTimePolicy::getSupportedFeatures	(	double	start_tolerance,
		double	goal_tolerance,
		double	min_fraction
	)

static

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

Definition at line 280 of file best_seen_execution_time_policy.cpp.

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◆ reset()

void moveit_ros::trajectory_cache::CartesianBestSeenExecutionTimePolicy::reset ( )

overridevirtual

Resets the state of the policy.

Implements moveit_ros::trajectory_cache::CacheInsertPolicyInterface< moveit_msgs::srv::GetCartesianPath::Request, moveit_msgs::srv::GetCartesianPath::Response, moveit_msgs::msg::RobotTrajectory >.

Definition at line 461 of file best_seen_execution_time_policy.cpp.

◆ shouldInsert()

bool moveit_ros::trajectory_cache::CartesianBestSeenExecutionTimePolicy::shouldInsert	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const moveit_msgs::srv::GetCartesianPath::Request &	key,
		const moveit_msgs::srv::GetCartesianPath::Response &	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::srv::GetCartesianPath::Request, moveit_msgs::srv::GetCartesianPath::Response, moveit_msgs::msg::RobotTrajectory >.

Definition at line 411 of file best_seen_execution_time_policy.cpp.

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◆ shouldPruneMatchingEntry()

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

override

Definition at line 379 of file best_seen_execution_time_policy.cpp.

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

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CartesianBestSeenExecutionTimePolicy()

Member Function Documentation

◆ appendInsertMetadata()

◆ checkCacheInsertInputs()

◆ fetchMatchingEntries()

◆ getName()

◆ getSupportedFeatures()

◆ reset()

◆ shouldInsert()

◆ shouldPruneMatchingEntry()