Merge branch master into splapp

.github/ISSUE_TEMPLATE/bug-report.yml

@@ -0,0 +1,57 @@
+name: Bug Report
+description: Create a report to help us improve
+body:
+  - type: input
+    attributes:
+      label: Version
+      description: What version of `tesseract_planning` are you using?
+      placeholder: Post a tag (e.g., `0.25.0`) or commit hash (e.g., `12faec5`)
+    validations:
+      required: True
+
+  - type: dropdown
+    attributes:
+      label: OS Version
+      description: What OS version are you running?
+      options:
+        - Ubuntu 20.04
+        - Ubuntu 22.04
+        - Ubuntu 24.04
+        - MacOS 12
+        - MacOS 14
+        - Windows (MSVC 2019)
+        - Windows (MSVC 2022)
+        - Other (please specify in the bug description)
+    validations:
+      required: True
+
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      placeholder: |
+        A clear and concise description of the bug
+    validations:
+      required: True
+
+  - type: textarea
+    attributes:
+      label: To Reproduce
+      placeholder: |
+        Describe the steps to reproduce the behavior
+    validations:
+      required: True
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      placeholder: |
+        A clear and concise description of what you expected to happen.
+    validations:
+      required: True
+
+  - type: textarea
+    attributes:
+      label: Relevant log output
+      placeholder: |
+        Paste any relevant log output here (will be rendered as shell text)
+      render: shell

.github/ISSUE_TEMPLATE/feature-request.yml

@@ -0,0 +1,32 @@
+name: Feature Request
+description: Suggest an idea for this project
+body:
+  - type: textarea
+    attributes:
+      label: Is your feature request related to a problem? Please describe.
+      placeholder: |
+        A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+    validations:
+      required: True
+
+  - type: textarea
+    attributes:
+      label: Describe the solution you'd like
+      placeholder: |
+        A clear and concise description of what you want to happen.
+    validations:
+      required: True
+
+  - type: textarea
+    attributes:
+      label: Describe alternatives you've considered
+      placeholder: |
+        A clear and concise description of any alternative solutions or features you've considered.
+    validations:
+      required: True
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      placeholder: |
+        Add any other context or screenshots about the feature request here.

.github/workflows/mac.yml

@@ -35,7 +35,7 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - runner: macos-12
+          - runner: macos-13
             vcpkg_triplet: x64-osx-dynamic-release
             arch: x64
             homebrew_root: /usr/local

.github/workflows/windows.yml

@@ -59,5 +59,5 @@ jobs:
         vcs-file: .github/workflows/windows_dependencies.repos
         upstream-args: --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DBUILD_IPOPT=OFF -DBUILD_SNOPT=OFF -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
         target-path: target_ws/src
-        target-args: --packages-ignore tesseract_examples --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
+        target-args: --event-handlers console_cohesion+ --packages-ignore tesseract_examples --cmake-args -G "Ninja" -DVCPKG_TARGET_TRIPLET=x64-windows-release -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_BUILD_TRAJOPT_IFOPT=OFF -DVCPKG_APPLOCAL_DEPS=OFF
         run-tests-args: --packages-ignore tesseract_examples

tesseract_command_language/CMakeLists.txt

@@ -49,6 +49,7 @@ add_library(
   src/poly/waypoint_poly.cpp
   src/move_instruction.cpp
   src/profile_dictionary.cpp
+  src/profile.cpp
   src/set_analog_instruction.cpp
   src/set_tool_instruction.cpp
   src/timer_instruction.cpp

tesseract_command_language/include/tesseract_command_language/composite_instruction.h

@@ -37,13 +37,13 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/instruction_poly.h>
 #include <tesseract_command_language/constants.h>
+#include <tesseract_command_language/types.h>
 #include <tesseract_common/manipulator_info.h>
 #include <tesseract_common/any_poly.h>
 
 namespace tesseract_planning
 {
 class CompositeInstruction;
-class ProfileDictionary;
 struct MoveInstructionPoly;
 
 /**
@@ -134,10 +134,10 @@ class CompositeInstruction
   void print(const std::string& prefix = "") const;
 
   void setProfile(const std::string& profile);
-  const std::string& getProfile() const;
+  const std::string& getProfile(const std::string& ns = "") const;
 
-  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
-  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const;
+  void setProfileOverrides(ProfileOverrides profile_overrides);
+  const ProfileOverrides& getProfileOverrides() const;
 
   void setManipulatorInfo(tesseract_common::ManipulatorInfo info);
   const tesseract_common::ManipulatorInfo& getManipulatorInfo() const;
@@ -409,7 +409,7 @@ class CompositeInstruction
   std::string profile_{ DEFAULT_PROFILE_KEY };
 
   /** @brief Dictionary of profiles that will override named profiles for a specific task*/
-  std::shared_ptr<const ProfileDictionary> profile_overrides_;
+  ProfileOverrides profile_overrides_;
 
   /** @brief The order of the composite instruction */
   CompositeInstructionOrder order_{ CompositeInstructionOrder::ORDERED };

tesseract_command_language/include/tesseract_command_language/fwd.h

@@ -31,6 +31,7 @@ enum class WaitInstructionType : int;
 class WaitInstruction;
 
 // Profile Dictionary
+class Profile;
 class ProfileDictionary;
 }  // namespace tesseract_planning
 #endif  // TESSERACT_COMMAND_LANGUAGE_FWD_H

tesseract_command_language/include/tesseract_command_language/move_instruction.h

@@ -35,6 +35,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/poly/move_instruction_poly.h>
 #include <tesseract_command_language/poly/waypoint_poly.h>
 #include <tesseract_command_language/constants.h>
+#include <tesseract_command_language/types.h>
 #include <tesseract_common/manipulator_info.h>
 
 namespace tesseract_planning
@@ -139,16 +140,16 @@ class MoveInstruction
   tesseract_common::ManipulatorInfo& getManipulatorInfo();
 
   void setProfile(const std::string& profile);
-  const std::string& getProfile() const;
+  const std::string& getProfile(const std::string& ns = "") const;
 
   void setPathProfile(const std::string& profile);
-  const std::string& getPathProfile() const;
+  const std::string& getPathProfile(const std::string& ns = "") const;
 
-  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
-  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const;
+  void setProfileOverrides(ProfileOverrides profile_overrides);
+  const ProfileOverrides& getProfileOverrides() const;
 
-  void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
-  std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const;
+  void setPathProfileOverrides(ProfileOverrides profile_overrides);
+  const ProfileOverrides& getPathProfileOverrides() const;
 
   const std::string& getDescription() const;
 
@@ -183,10 +184,10 @@ class MoveInstruction
   std::string path_profile_;
 
   /** @brief Dictionary of profiles that will override named profiles for a specific task*/
-  std::shared_ptr<const ProfileDictionary> profile_overrides_;
+  ProfileOverrides profile_overrides_;
 
   /** @brief Dictionary of path profiles that will override named profiles for a specific task*/
-  std::shared_ptr<const ProfileDictionary> path_profile_overrides_;
+  ProfileOverrides path_profile_overrides_;
 
   /** @brief The assigned waypoint (Cartesian, Joint or State) */
   WaypointPoly waypoint_;

tesseract_command_language/include/tesseract_command_language/poly/move_instruction_poly.h

@@ -40,6 +40,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_command_language/poly/joint_waypoint_poly.h>
 #include <tesseract_command_language/poly/state_waypoint_poly.h>
 #include <tesseract_command_language/poly/waypoint_poly.h>
+#include <tesseract_command_language/types.h>
 #include <tesseract_common/manipulator_info.h>
 #include <tesseract_common/type_erasure.h>
 #include <tesseract_common/fwd.h>
@@ -127,11 +128,11 @@ struct MoveInstructionConcept  // NOLINT
     const std::string& path_profile_const = c.getPathProfile();
     UNUSED(path_profile_const);
 
-    c.setProfileOverrides(nullptr);
+    c.setProfileOverrides(ProfileOverrides{});
     auto profile_overrides = c.getProfileOverrides();
     UNUSED(profile_overrides);
 
-    c.setPathProfileOverrides(nullptr);
+    c.setPathProfileOverrides(ProfileOverrides{});
     auto path_profile_overrides = c.getPathProfileOverrides();
     UNUSED(path_profile_overrides);
 
@@ -180,16 +181,16 @@ struct MoveInstructionInterface : tesseract_common::TypeErasureInterface
   virtual tesseract_common::ManipulatorInfo& getManipulatorInfo() = 0;
 
   virtual void setProfile(const std::string& profile) = 0;
-  virtual const std::string& getProfile() const = 0;
+  virtual const std::string& getProfile(const std::string& ns = "") const = 0;
 
   virtual void setPathProfile(const std::string& profile) = 0;
-  virtual const std::string& getPathProfile() const = 0;
+  virtual const std::string& getPathProfile(const std::string& ns = "") const = 0;
 
-  virtual void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) = 0;
-  virtual std::shared_ptr<const ProfileDictionary> getProfileOverrides() const = 0;
+  virtual void setProfileOverrides(ProfileOverrides profile_overrides) = 0;
+  virtual const ProfileOverrides& getProfileOverrides() const = 0;
 
-  virtual void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) = 0;
-  virtual std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const = 0;
+  virtual void setPathProfileOverrides(ProfileOverrides profile_overrides) = 0;
+  virtual const ProfileOverrides& getPathProfileOverrides() const = 0;
 
   virtual void setMoveType(MoveInstructionType move_type) = 0;
   virtual MoveInstructionType getMoveType() const = 0;
@@ -244,28 +245,22 @@ struct MoveInstructionInstance : tesseract_common::TypeErasureInstance<T, MoveIn
   tesseract_common::ManipulatorInfo& getManipulatorInfo() final { return this->get().getManipulatorInfo(); }
 
   void setProfile(const std::string& profile) final { this->get().setProfile(profile); }
-  const std::string& getProfile() const final { return this->get().getProfile(); }
+  const std::string& getProfile(const std::string& ns = "") const final { return this->get().getProfile(ns); }
 
   void setPathProfile(const std::string& profile) final { this->get().setPathProfile(profile); }
-  const std::string& getPathProfile() const final { return this->get().getPathProfile(); }
+  const std::string& getPathProfile(const std::string& ns = "") const final { return this->get().getPathProfile(ns); }
 
-  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) final
+  void setProfileOverrides(ProfileOverrides profile_overrides) final
   {
-    this->get().setProfileOverrides(profile_overrides);
-  }
-  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const final
-  {
-    return this->get().getProfileOverrides();
+    this->get().setProfileOverrides(std::move(profile_overrides));
   }
+  const ProfileOverrides& getProfileOverrides() const final { return this->get().getProfileOverrides(); }
 
-  void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) final
-  {
-    this->get().setPathProfileOverrides(profile_overrides);
-  }
-  std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const final
+  void setPathProfileOverrides(ProfileOverrides profile_overrides) final
   {
-    return this->get().getPathProfileOverrides();
+    this->get().setPathProfileOverrides(std::move(profile_overrides));
   }
+  const ProfileOverrides& getPathProfileOverrides() const final { return this->get().getPathProfileOverrides(); }
 
   void setMoveType(MoveInstructionType move_type) final { this->get().setMoveType(move_type); }
   MoveInstructionType getMoveType() const final { return this->get().getMoveType(); }
@@ -321,16 +316,16 @@ struct MoveInstructionPoly : MoveInstructionPolyBase
   tesseract_common::ManipulatorInfo& getManipulatorInfo();
 
   void setProfile(const std::string& profile);
-  const std::string& getProfile() const;
+  const std::string& getProfile(const std::string& ns = "") const;
 
   void setPathProfile(const std::string& profile);
-  const std::string& getPathProfile() const;
+  const std::string& getPathProfile(const std::string& ns = "") const;
 
-  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
-  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const;
+  void setProfileOverrides(ProfileOverrides profile_overrides);
+  const ProfileOverrides& getProfileOverrides() const;
 
-  void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
-  std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const;
+  void setPathProfileOverrides(ProfileOverrides profile_overrides);
+  const ProfileOverrides& getPathProfileOverrides() const;
 
   void setMoveType(MoveInstructionType move_type);
   MoveInstructionType getMoveType() const;

tesseract_command_language/include/tesseract_command_language/profile.h

@@ -0,0 +1,68 @@
+/**
+ * @file profile.h
+ * @brief This is a profile base class
+ *
+ * @author Levi Armstrong
+ * @date December 2, 2024
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2024, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef TESSERACT_MOTION_PLANNERS_PROFILE_H
+#define TESSERACT_MOTION_PLANNERS_PROFILE_H
+
+#include <memory>
+#include <boost/serialization/access.hpp>
+#include <boost/serialization/export.hpp>
+
+namespace tesseract_planning
+{
+/**
+ * @brief The Profile class
+ */
+class Profile
+{
+public:
+  using Ptr = std::shared_ptr<Profile>;
+  using ConstPtr = std::shared_ptr<const Profile>;
+
+  Profile() = default;
+  Profile(std::size_t key);
+  Profile(const Profile&) = delete;
+  Profile& operator=(const Profile&) = delete;
+  Profile(Profile&&) = delete;
+  Profile&& operator=(Profile&&) = delete;
+  virtual ~Profile() = default;
+
+  /**
+   * @brief Get the hash code associated with the profile
+   * @return The profile's hash code
+   */
+  std::size_t getKey() const;
+
+protected:
+  std::size_t key_{ 0 };
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
+};
+}  // namespace tesseract_planning
+
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::Profile)
+
+#endif  // TESSERACT_MOTION_PLANNERS_PROFILE_H