Rename PlanProfile to MoveProfile (SimplePlanner)

Author: rjoomen

tesseract_motion_planners/simple/CMakeLists.txt

@@ -2,13 +2,13 @@ add_library(
   ${PROJECT_NAME}_simple
   src/interpolation.cpp
   src/simple_motion_planner.cpp
-  src/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.cpp
-  src/profile/simple_planner_fixed_size_assign_plan_profile.cpp
-  src/profile/simple_planner_fixed_size_plan_profile.cpp
-  src/profile/simple_planner_lvs_assign_no_ik_plan_profile.cpp
-  src/profile/simple_planner_lvs_assign_plan_profile.cpp
-  src/profile/simple_planner_lvs_no_ik_plan_profile.cpp
-  src/profile/simple_planner_lvs_plan_profile.cpp
+  src/profile/simple_planner_fixed_size_assign_no_ik_move_profile.cpp
+  src/profile/simple_planner_fixed_size_assign_move_profile.cpp
+  src/profile/simple_planner_fixed_size_move_profile.cpp
+  src/profile/simple_planner_lvs_assign_no_ik_move_profile.cpp
+  src/profile/simple_planner_lvs_assign_move_profile.cpp
+  src/profile/simple_planner_lvs_no_ik_move_profile.cpp
+  src/profile/simple_planner_lvs_move_profile.cpp
   src/profile/simple_planner_profile.cpp)
 target_link_libraries(${PROJECT_NAME}_simple PUBLIC ${PROJECT_NAME}_core Boost::boost)
 target_compile_options(${PROJECT_NAME}_simple PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.h renamed to tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_move_profile.h

@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_fixed_size_assign_no_ik_plan_profile.h
+ * @file simple_planner_fixed_size_assign_no_ik_move_profile.h
  * @brief
  *
  * @author Matthew Powelson
@@ -24,25 +24,25 @@
  * limitations under the License.
  */
 
-#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_PLAN_PROFILE_H
-#define TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_PLAN_PROFILE_H
+#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_MOVE_PROFILE_H
+#define TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_MOVE_PROFILE_H
 
 #include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
 
 namespace tesseract_planning
 {
-class SimplePlannerFixedSizeAssignNoIKPlanProfile : public SimplePlannerPlanProfile
+class SimplePlannerFixedSizeAssignNoIKMoveProfile : public SimplePlannerMoveProfile
 {
 public:
-  using Ptr = std::shared_ptr<SimplePlannerFixedSizeAssignNoIKPlanProfile>;
-  using ConstPtr = std::shared_ptr<const SimplePlannerFixedSizeAssignNoIKPlanProfile>;
+  using Ptr = std::shared_ptr<SimplePlannerFixedSizeAssignNoIKMoveProfile>;
+  using ConstPtr = std::shared_ptr<const SimplePlannerFixedSizeAssignNoIKMoveProfile>;
 
   /**
-   * @brief SimplePlannerFixedSizeAssignPlanProfile
+   * @brief SimplePlannerFixedSizeAssignMoveProfile
    * @param freespace_steps The number of steps to use for freespace instruction
    * @param linear_steps The number of steps to use for linear instruction
    */
-  SimplePlannerFixedSizeAssignNoIKPlanProfile(int freespace_steps = 10, int linear_steps = 10);
+  SimplePlannerFixedSizeAssignNoIKMoveProfile(int freespace_steps = 10, int linear_steps = 10);
 
   std::vector<MoveInstructionPoly> generate(const MoveInstructionPoly& prev_instruction,
                                             const MoveInstructionPoly& prev_seed,
@@ -65,6 +65,6 @@ class SimplePlannerFixedSizeAssignNoIKPlanProfile : public SimplePlannerPlanProf
 
 }  // namespace tesseract_planning
 
-BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerFixedSizeAssignNoIKPlanProfile)
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerFixedSizeAssignNoIKMoveProfile)
 
-#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_PLAN_PROFILE_H
+#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_FIXED_SIZE_ASSIGN_NO_IK_MOVE_PROFILE_H

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_plan_profile.h renamed to tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_move_profile.h

@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_lvs_assign_plan_profile.h
+ * @file simple_planner_lvs_assign_move_profile.h
  * @brief
  *
  * @author Roelof Oomen
@@ -24,8 +24,8 @@
  * limitations under the License.
  */
 
-#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_PLAN_PROFILE_H
-#define TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_PLAN_PROFILE_H
+#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_MOVE_PROFILE_H
+#define TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_MOVE_PROFILE_H
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
@@ -36,18 +36,18 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_planning
 {
-class SimplePlannerLVSAssignPlanProfile : public SimplePlannerPlanProfile
+class SimplePlannerLVSAssignMoveProfile : public SimplePlannerMoveProfile
 {
 public:
-  using Ptr = std::shared_ptr<SimplePlannerLVSAssignPlanProfile>;
-  using ConstPtr = std::shared_ptr<const SimplePlannerLVSAssignPlanProfile>;
+  using Ptr = std::shared_ptr<SimplePlannerLVSAssignMoveProfile>;
+  using ConstPtr = std::shared_ptr<const SimplePlannerLVSAssignMoveProfile>;
 
   /**
-   * @brief SimplePlannerFixedSizeAssignPlanProfile
+   * @brief SimplePlannerFixedSizeAssignMoveProfile
    * @param freespace_steps The number of steps to use for freespace instruction
    * @param linear_steps The number of steps to use for linear instruction
    */
-  SimplePlannerLVSAssignPlanProfile(double state_longest_valid_segment_length = 5 * M_PI / 180,
+  SimplePlannerLVSAssignMoveProfile(double state_longest_valid_segment_length = 5 * M_PI / 180,
                                     double translation_longest_valid_segment_length = 0.1,
                                     double rotation_longest_valid_segment_length = 5 * M_PI / 180,
                                     int min_steps = 1,
@@ -83,6 +83,6 @@ class SimplePlannerLVSAssignPlanProfile : public SimplePlannerPlanProfile
 
 }  // namespace tesseract_planning
 
-BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignPlanProfile)
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignMoveProfile)
 
-#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_PLAN_PROFILE_H
+#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_MOVE_PROFILE_H

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_plan_profile.h renamed to tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_move_profile.h

@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_lvs_assign_no_ik_plan_profile.h
+ * @file simple_planner_lvs_assign_no_ik_move_profile.h
  * @brief
  *
  * @author Roelof Oomen
@@ -24,8 +24,8 @@
  * limitations under the License.
  */
 
-#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_PLAN_PROFILE_H
-#define TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_PLAN_PROFILE_H
+#ifndef TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_MOVE_PROFILE_H
+#define TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_MOVE_PROFILE_H
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
@@ -36,18 +36,18 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_planning
 {
-class SimplePlannerLVSAssignNoIKPlanProfile : public SimplePlannerPlanProfile
+class SimplePlannerLVSAssignNoIKMoveProfile : public SimplePlannerMoveProfile
 {
 public:
-  using Ptr = std::shared_ptr<SimplePlannerLVSAssignNoIKPlanProfile>;
-  using ConstPtr = std::shared_ptr<const SimplePlannerLVSAssignNoIKPlanProfile>;
+  using Ptr = std::shared_ptr<SimplePlannerLVSAssignNoIKMoveProfile>;
+  using ConstPtr = std::shared_ptr<const SimplePlannerLVSAssignNoIKMoveProfile>;
 
   /**
-   * @brief SimplePlannerFixedSizeAssignPlanProfile
+   * @brief SimplePlannerFixedSizeAssignMoveProfile
    * @param freespace_steps The number of steps to use for freespace instruction
    * @param linear_steps The number of steps to use for linear instruction
    */
-  SimplePlannerLVSAssignNoIKPlanProfile(double state_longest_valid_segment_length = 5 * M_PI / 180,
+  SimplePlannerLVSAssignNoIKMoveProfile(double state_longest_valid_segment_length = 5 * M_PI / 180,
                                         double translation_longest_valid_segment_length = 0.1,
                                         double rotation_longest_valid_segment_length = 5 * M_PI / 180,
                                         int min_steps = 1,
@@ -83,6 +83,6 @@ class SimplePlannerLVSAssignNoIKPlanProfile : public SimplePlannerPlanProfile
 
 }  // namespace tesseract_planning
 
-BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignNoIKPlanProfile)
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::SimplePlannerLVSAssignNoIKMoveProfile)
 
-#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_PLAN_PROFILE_H
+#endif  // TESSERACT_MOTION_PLANNERS_SIMPLE_PLANNER_LVS_ASSIGN_NO_IK_MOVE_PROFILE_H

tesseract_motion_planners/simple/src/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.cpp renamed to tesseract_motion_planners/simple/src/profile/simple_planner_fixed_size_assign_no_ik_move_profile.cpp

@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_fixed_size_assign_no_ik_plan_profile.cpp
+ * @file simple_planner_fixed_size_assign_no_ik_move_profile.cpp
  * @brief
  *
  * @author Matthew Powelson
@@ -24,7 +24,7 @@
  * limitations under the License.
  */
 
-#include <tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_move_profile.h>
 #include <tesseract_motion_planners/simple/interpolation.h>
 #include <tesseract_motion_planners/core/types.h>
 #include <tesseract_motion_planners/core/utils.h>
@@ -39,13 +39,13 @@
 
 namespace tesseract_planning
 {
-SimplePlannerFixedSizeAssignNoIKPlanProfile::SimplePlannerFixedSizeAssignNoIKPlanProfile(int freespace_steps,
+SimplePlannerFixedSizeAssignNoIKMoveProfile::SimplePlannerFixedSizeAssignNoIKMoveProfile(int freespace_steps,
                                                                                          int linear_steps)
   : freespace_steps(freespace_steps), linear_steps(linear_steps)
 {
 }
 
-std::vector<MoveInstructionPoly> SimplePlannerFixedSizeAssignNoIKPlanProfile::generate(
+std::vector<MoveInstructionPoly> SimplePlannerFixedSizeAssignNoIKMoveProfile::generate(
     const MoveInstructionPoly& prev_instruction,
     const MoveInstructionPoly& /*prev_seed*/,
     const MoveInstructionPoly& base_instruction,
@@ -127,15 +127,15 @@ std::vector<MoveInstructionPoly> SimplePlannerFixedSizeAssignNoIKPlanProfile::ge
 }
 
 template <class Archive>
-void SimplePlannerFixedSizeAssignNoIKPlanProfile::serialize(Archive& ar, const unsigned int /*version*/)
+void SimplePlannerFixedSizeAssignNoIKMoveProfile::serialize(Archive& ar, const unsigned int /*version*/)
 {
-  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerPlanProfile);
+  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerMoveProfile);
   ar& BOOST_SERIALIZATION_NVP(freespace_steps);
   ar& BOOST_SERIALIZATION_NVP(linear_steps);
 }
 
 }  // namespace tesseract_planning
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerFixedSizeAssignNoIKPlanProfile)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerFixedSizeAssignNoIKPlanProfile)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerFixedSizeAssignNoIKMoveProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerFixedSizeAssignNoIKMoveProfile)

tesseract_motion_planners/simple/src/profile/simple_planner_lvs_assign_plan_profile.cpp renamed to tesseract_motion_planners/simple/src/profile/simple_planner_lvs_assign_move_profile.cpp

@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_lvs_assign_plan_profile.cpp
+ * @file simple_planner_lvs_assign_move_profile.cpp
  * @brief
  *
  * @author Roelof Oomen
@@ -24,7 +24,7 @@
  * limitations under the License.
  */
 
-#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_plan_profile.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_move_profile.h>
 #include <tesseract_command_language/cartesian_waypoint.h>
 #include <tesseract_command_language/poly/move_instruction_poly.h>
 #include <tesseract_environment/environment.h>
@@ -37,7 +37,7 @@
 
 namespace tesseract_planning
 {
-SimplePlannerLVSAssignPlanProfile::SimplePlannerLVSAssignPlanProfile(double state_longest_valid_segment_length,
+SimplePlannerLVSAssignMoveProfile::SimplePlannerLVSAssignMoveProfile(double state_longest_valid_segment_length,
                                                                      double translation_longest_valid_segment_length,
                                                                      double rotation_longest_valid_segment_length,
                                                                      int min_steps,
@@ -51,7 +51,7 @@ SimplePlannerLVSAssignPlanProfile::SimplePlannerLVSAssignPlanProfile(double stat
 }
 
 std::vector<MoveInstructionPoly>
-SimplePlannerLVSAssignPlanProfile::generate(const MoveInstructionPoly& prev_instruction,
+SimplePlannerLVSAssignMoveProfile::generate(const MoveInstructionPoly& prev_instruction,
                                             const MoveInstructionPoly& /*prev_seed*/,
                                             const MoveInstructionPoly& base_instruction,
                                             const InstructionPoly& /*next_instruction*/,
@@ -175,9 +175,9 @@ SimplePlannerLVSAssignPlanProfile::generate(const MoveInstructionPoly& prev_inst
 }
 
 template <class Archive>
-void SimplePlannerLVSAssignPlanProfile::serialize(Archive& ar, const unsigned int /*version*/)
+void SimplePlannerLVSAssignMoveProfile::serialize(Archive& ar, const unsigned int /*version*/)
 {
-  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerPlanProfile);
+  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerMoveProfile);
   ar& BOOST_SERIALIZATION_NVP(state_longest_valid_segment_length);
   ar& BOOST_SERIALIZATION_NVP(translation_longest_valid_segment_length);
   ar& BOOST_SERIALIZATION_NVP(rotation_longest_valid_segment_length);
@@ -188,5 +188,5 @@ void SimplePlannerLVSAssignPlanProfile::serialize(Archive& ar, const unsigned in
 }  // namespace tesseract_planning
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerLVSAssignPlanProfile)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerLVSAssignPlanProfile)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerLVSAssignMoveProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerLVSAssignMoveProfile)

tesseract_motion_planners/simple/src/profile/simple_planner_lvs_assign_no_ik_plan_profile.cpp renamed to tesseract_motion_planners/simple/src/profile/simple_planner_lvs_assign_no_ik_move_profile.cpp

@@ -1,5 +1,5 @@
 /**
- * @file simple_planner_lvs_assign_no_ik_plan_profile.cpp
+ * @file simple_planner_lvs_assign_no_ik_move_profile.cpp
  * @brief
  *
  * @author Roelof Oomen
@@ -24,7 +24,7 @@
  * limitations under the License.
  */
 
-#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_plan_profile.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_lvs_assign_no_ik_move_profile.h>
 #include <tesseract_command_language/cartesian_waypoint.h>
 #include <tesseract_command_language/poly/move_instruction_poly.h>
 #include <tesseract_environment/environment.h>
@@ -37,7 +37,7 @@
 
 namespace tesseract_planning
 {
-SimplePlannerLVSAssignNoIKPlanProfile::SimplePlannerLVSAssignNoIKPlanProfile(
+SimplePlannerLVSAssignNoIKMoveProfile::SimplePlannerLVSAssignNoIKMoveProfile(
     double state_longest_valid_segment_length,
     double translation_longest_valid_segment_length,
     double rotation_longest_valid_segment_length,
@@ -52,7 +52,7 @@ SimplePlannerLVSAssignNoIKPlanProfile::SimplePlannerLVSAssignNoIKPlanProfile(
 }
 
 std::vector<MoveInstructionPoly>
-SimplePlannerLVSAssignNoIKPlanProfile::generate(const MoveInstructionPoly& prev_instruction,
+SimplePlannerLVSAssignNoIKMoveProfile::generate(const MoveInstructionPoly& prev_instruction,
                                                 const MoveInstructionPoly& /*prev_seed*/,
                                                 const MoveInstructionPoly& base_instruction,
                                                 const InstructionPoly& /*next_instruction*/,
@@ -144,9 +144,9 @@ SimplePlannerLVSAssignNoIKPlanProfile::generate(const MoveInstructionPoly& prev_
 }
 
 template <class Archive>
-void SimplePlannerLVSAssignNoIKPlanProfile::serialize(Archive& ar, const unsigned int /*version*/)
+void SimplePlannerLVSAssignNoIKMoveProfile::serialize(Archive& ar, const unsigned int /*version*/)
 {
-  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerPlanProfile);
+  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(SimplePlannerMoveProfile);
   ar& BOOST_SERIALIZATION_NVP(state_longest_valid_segment_length);
   ar& BOOST_SERIALIZATION_NVP(translation_longest_valid_segment_length);
   ar& BOOST_SERIALIZATION_NVP(rotation_longest_valid_segment_length);
@@ -157,5 +157,5 @@ void SimplePlannerLVSAssignNoIKPlanProfile::serialize(Archive& ar, const unsigne
 }  // namespace tesseract_planning
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerLVSAssignNoIKPlanProfile)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerLVSAssignNoIKPlanProfile)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SimplePlannerLVSAssignNoIKMoveProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::SimplePlannerLVSAssignNoIKMoveProfile)

tesseract_motion_planners/simple/test/CMakeLists.txt

@@ -18,7 +18,7 @@ macro(add_gtest test_name test_file)
   add_dependencies(run_tests ${test_name})
 endmacro()
 
-add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_plan_unit
-          simple_planner_fixed_size_assign_no_ik_plan_unit.cpp)
-add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_plan_unit simple_planner_fixed_size_plan_unit.cpp)
-add_gtest(${PROJECT_NAME}_simple_planner_lvs_plan_unit simple_planner_lvs_plan_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_move_unit
+          simple_planner_fixed_size_assign_no_ik_move_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_fixed_size_move_unit simple_planner_fixed_size_move_unit.cpp)
+add_gtest(${PROJECT_NAME}_simple_planner_lvs_move_unit simple_planner_lvs_move_unit.cpp)