Code

Implement motion plan cache#16

Code

Merged

Yadunund merged 17 commits intomainosrf/nexus:mainfrom ch3/motion-plan-cacheosrf/nexus:ch3/motion-plan-cacheCopy head branch name to clipboardJan 22, 2024

+4,355-46

Commits

Commits on Nov 20, 2023

• Add motion plan cache

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• Switch to snake case for function names

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• Print cache fetch time and key plans on planned execution time

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• Add overwrite_worse_plans param

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• Fix plan fetching printout and don't recache fetched plans

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• Update only use cached plans parameter name

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• Add copyright headers and motion_planner namespace

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• Make motion_plan_cache a unique_ptr instead of shared_ptr

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• Set numerical precision

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• Use enum for planner database mode

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• Rename cache methods to prepare for cartesian caching

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• Add very important warning to cache class

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• Fix access after move bug

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• Remove internal cache node

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Commits on Dec 4, 2023

• Implement cartesian plan cache (#18)

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Commits on Dec 5, 2023

• Fix nullptr dereference

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• Fix and add motion planner server tests (#30)

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