Add SimplePlannerLVSAssignPlanProfile, SimplePlannerLVSAssignNoIKPlanProfile, SimplePlannerFixedSizeAssignPlanProfile (with IK), rename SimplePlannerFixedSizeAssignNoIKPlanProfile

[rjoomen]

• Adds SimplePlannerLVSAssignPlanProfile and SimplePlannerLVSAssignNoIKPlanProfile
• Renames SimplePlannerFixedSizeAssignPlanProfile to SimplePlannerFixedSizeAssignNoIKPlanProfile
• Adds new SimplePlannerFixedSizeAssignPlanProfile with IK (from Correctly handle cartesian waypoints in SimplePlannerFixedSizeAssignPlanProfile #447)
• Rename *PlanProfile to *MoveProfile

Profile	Points	Positions	IK	Remarks
SimplePlannerFixedSizeAssignMoveProfile	Fixed size	Assign	Yes	New
SimplePlannerFixedSizeAssignNoIKMoveProfile	Fixed size	Assign	No	Renamed
SimplePlannerFixedSizeMoveProfile	Fixed size	Interpolate	Yes
N/A	Fixed size	Interpolate	No
SimplePlannerLVSAssignMoveProfile	LVS	Assign	Yes	New
SimplePlannerLVSAssignNoIKMoveProfile	LVS	Assign	No	New
SimplePlannerLVSMoveProfile	LVS	Interpolate	Yes
SimplePlannerLVSNoIKMoveProfile	LVS	Interpolate	No

[rjoomen]

Still have to add unit tests.

[codecov]

Codecov Report

Attention: Patch coverage is 93.97539% with 142 lines in your changes missing coverage. Please review.

Project coverage is 79.96%. Comparing base (105a8a2) to head (bcd51d0).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...eract_motion_planners/simple/src/interpolation.cpp	41.17%	20 Missing ⚠️
...est/simple_planner_fixed_size_assign_move_unit.cpp	93.99%	20 Missing ⚠️
...mple_planner_fixed_size_assign_no_ik_move_unit.cpp	92.59%	18 Missing ⚠️
...imple/test/simple_planner_lvs_assign_move_unit.cpp	95.89%	18 Missing ⚠️
...simple/test/simple_planner_lvs_no_ik_move_unit.cpp	96.05%	16 Missing ⚠️
...test/simple_planner_lvs_assign_no_ik_move_unit.cpp	96.43%	12 Missing ⚠️
...profile/simple_planner_lvs_assign_move_profile.cpp	86.11%	10 Missing ⚠️
...e_planner_fixed_size_assign_no_ik_move_profile.cpp	85.48%	9 Missing ⚠️
...e/simple_planner_lvs_assign_no_ik_move_profile.cpp	85.93%	9 Missing ⚠️
...imple/test/simple_planner_fixed_size_move_unit.cpp	96.47%	8 Missing ⚠️
... and 1 more

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #448      +/-   ##
==========================================
+ Coverage   77.36%   79.96%   +2.60%     
==========================================
  Files         237      248      +11     
  Lines       14338    16349    +2011     
==========================================
+ Hits        11092    13074    +1982     
- Misses       3246     3275      +29     

Files with missing lines	Coverage Δ
...le/simple_planner_fixed_size_assign_move_profile.h	100.00% <ø> (ø)
...ple_planner_fixed_size_assign_no_ik_move_profile.h	100.00% <100.00%> (ø)
...e/profile/simple_planner_fixed_size_move_profile.h	100.00% <ø> (ø)
...e/profile/simple_planner_lvs_assign_move_profile.h	100.00% <100.00%> (ø)
...ile/simple_planner_lvs_assign_no_ik_move_profile.h	100.00% <100.00%> (ø)
...profile/simple_planner_fixed_size_move_profile.cpp	73.68% <100.00%> (ø)
...le/src/profile/simple_planner_lvs_move_profile.cpp	81.81% <100.00%> (ø)
.../profile/simple_planner_lvs_no_ik_move_profile.cpp	81.81% <100.00%> (ø)
...nners/simple/test/simple_planner_lvs_move_unit.cpp	95.75% <100.00%> (ø)
...planners/simple/test/simple_planner_test_utils.hpp	100.00% <100.00%> (ø)
... and 11 more

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[Levi-Armstrong]

@rjoomen What are the next steps needed to get this merged?

[rjoomen]

I need to add unit tests for the new profiles. I hope to finish this soon.

[Levi-Armstrong]

@rjoomen Are you still working on unit tests before this is ready for review? I just want to make sure you are not waiting on me.

[rjoomen]

I just finished this today, and it's finally ready for review!

[Levi-Armstrong]

@rjoomen The only thing I see which is the existing SimplePlannerFixedSizeAssignMoveProfile was renamed SimplePlannerFixedSizeAssignNoIKMoveProfile but there still exist SimplePlannerFixedSizeAssignMoveProfile which runs IK so those that were using the existing SimplePlannerFixedSizeAssignMoveProfile will not know they are getting different behavior. Do you agree?

[rjoomen]

Yes, that is a good point. The new situation is named consistently, but might cause running IK when not expected if you use the old profile name assuming it does not do IK.
Is this a problem though? I suppose normally one would only use the NoIK variant if you have proper seed values, so using the IK variant instead would not run IK anyway (right? I'm just assuming, I didn't check). But if this is an undesirable risk, we should rename SimplePlannerFixedSizeAssignMoveProfile, probably to SimplePlannerFixedSizeAssignIKMoveProfile or something, but for consistency we then should do this with all IK profiles. This would make the long and clunky names even longer, and the difference smaller as they have both IK in them. Although on the other hand it is explicit then that !NoIK = IK.
What do you think?

[Levi-Armstrong]

I do not think anything needs to change. Its just good to make note here so it is documented.