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Remove env_state from planning request #547

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Dec 14, 2024
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Remove env_state from planning request #547

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f5773e8
Remove env_state from planning request
Levi-Armstrong Dec 14, 2024
dfaeddb
Remove PlanningRequest form simple profile interface
Levi-Armstrong Dec 14, 2024
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3 changes: 0 additions & 3 deletions tesseract_motion_planners/core/include/tesseract_motion_planners/core/types.h
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Expand Up @@ -56,9 +56,6 @@ struct PlannerRequest
/** @brief The environment */
std::shared_ptr<const tesseract_environment::Environment> env;

/** @brief The start state to use for planning */
tesseract_scene_graph::SceneState env_state;

/** @brief The profile dictionary */
std::shared_ptr<const ProfileDictionary> profiles;

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2 changes: 1 addition & 1 deletion ...s/descartes/include/tesseract_motion_planners/descartes/impl/descartes_motion_planner.hpp
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Expand Up @@ -259,8 +259,8 @@ DescartesMotionPlanner<FloatType>::createProblem(const PlannerRequest& request)
return prob;
}

prob->env_state = request.env_state;
prob->env = request.env;
prob->env_state = request.env->getState();

std::vector<std::string> joint_names = prob->manip->getJointNames();

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32 changes: 3 additions & 29 deletions tesseract_motion_planners/descartes/test/descartes_planner_tests.cpp
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Expand Up @@ -109,13 +109,6 @@ TEST(TesseractPlanningDescartesSerializeUnit, SerializeDescartesDefaultPlanToXml

TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerFixedPoses) // NOLINT
{
// Create the planner and the responses that will store the results
PlannerResponse planning_response;

tesseract_kinematics::KinematicGroup::Ptr kin_group =
env_->getKinematicGroup(manip.manipulator, manip.manipulator_ik_solver);
auto cur_state = env_->getState();

// Specify a start waypoint
CartesianWaypointPoly wp1{ CartesianWaypoint(Eigen::Isometry3d::Identity() * Eigen::Translation3d(0.8, -.20, 0.8) *
Eigen::Quaterniond(0, 0, -1.0, 0)) };
Expand All @@ -137,8 +130,7 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerFixedPoses) // NOLINT
program.appendMoveInstruction(plan_f1);

// Create a seed
CompositeInstruction interpolated_program =
generateInterpolatedProgram(program, cur_state, env_, 3.14, 1.0, 3.14, 10);
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, env_, 3.14, 1.0, 3.14, 10);

// Create Profiles
auto plan_profile = std::make_shared<DescartesDefaultPlanProfileD>();
Expand All @@ -155,7 +147,6 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerFixedPoses) // NOLINT
PlannerRequest request;
request.instructions = interpolated_program;
request.env = env_;
request.env_state = cur_state;
request.profiles = profiles;

PlannerResponse single_planner_response = single_descartes_planner.solve(request);
Expand Down Expand Up @@ -221,13 +212,6 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerFixedPoses) // NOLINT

TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerAxialSymetric) // NOLINT
{
// Create the planner and the responses that will store the results
PlannerResponse planning_response;

tesseract_kinematics::KinematicGroup::Ptr kin_group =
env_->getKinematicGroup(manip.manipulator, manip.manipulator_ik_solver);
auto cur_state = env_->getState();

// Specify a start waypoint
CartesianWaypointPoly wp1{ CartesianWaypoint(Eigen::Isometry3d::Identity() * Eigen::Translation3d(0.8, -.20, 0.8) *
Eigen::Quaterniond(0, 0, -1.0, 0)) };
Expand All @@ -249,8 +233,7 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerAxialSymetric) // NOLINT
program.appendMoveInstruction(plan_f1);

// Create a seed
CompositeInstruction interpolated_program =
generateInterpolatedProgram(program, cur_state, env_, 3.14, 1.0, 3.14, 10);
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, env_, 3.14, 1.0, 3.14, 10);

// Create Profiles
auto plan_profile = std::make_shared<DescartesDefaultPlanProfileD>();
Expand All @@ -271,7 +254,6 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerAxialSymetric) // NOLINT
PlannerRequest request;
request.instructions = interpolated_program;
request.env = env_;
request.env_state = cur_state;
request.profiles = profiles;

auto problem = single_descartes_planner.createProblem(request);
Expand Down Expand Up @@ -324,13 +306,6 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerAxialSymetric) // NOLINT

TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerCollisionEdgeEvaluator) // NOLINT
{
// Create the planner and the responses that will store the results
PlannerResponse planning_response;

tesseract_kinematics::KinematicGroup::Ptr kin_group =
env_->getKinematicGroup(manip.manipulator, manip.manipulator_ik_solver);
auto cur_state = env_->getState();

// Specify a start waypoint
CartesianWaypointPoly wp1{ CartesianWaypoint(Eigen::Isometry3d::Identity() * Eigen::Translation3d(0.8, -.10, 0.8) *
Eigen::Quaterniond(0, 0, -1.0, 0)) };
Expand All @@ -352,7 +327,7 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerCollisionEdgeEvaluator)
program.appendMoveInstruction(plan_f1);

// Create a seed
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, cur_state, env_, 3.14, 1.0, 3.14, 2);
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, env_, 3.14, 1.0, 3.14, 2);

// Create Profiles
auto plan_profile = std::make_shared<DescartesDefaultPlanProfileD>();
Expand All @@ -370,7 +345,6 @@ TEST_F(TesseractPlanningDescartesUnit, DescartesPlannerCollisionEdgeEvaluator)
PlannerRequest request;
request.instructions = interpolated_program;
request.env = env_;
request.env_state = cur_state;
request.profiles = profiles;

// Create Planner
Expand Down
4 changes: 2 additions & 2 deletions tesseract_motion_planners/ompl/src/ompl_motion_planner.cpp
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Expand Up @@ -345,10 +345,10 @@ OMPLMotionPlanner::createSubProblem(const PlannerRequest& request,
config.end_uuid = end_instruction.getUUID();
config.problem = std::make_shared<OMPLProblem>();
config.problem->env = request.env;
config.problem->env_state = request.env_state;
config.problem->env_state = request.env->getState();
config.problem->manip = manip;
config.problem->contact_checker = request.env->getDiscreteContactManager();
config.problem->contact_checker->setCollisionObjectsTransform(request.env_state.link_transforms);
config.problem->contact_checker->setCollisionObjectsTransform(config.problem->env_state.link_transforms);
config.problem->contact_checker->setActiveCollisionObjects(active_link_names);

cur_plan_profile->setup(*config.problem);
Expand Down
16 changes: 5 additions & 11 deletions tesseract_motion_planners/ompl/test/ompl_planner_tests.cpp
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Expand Up @@ -198,7 +198,6 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespacePlannerUnit) // NOLINT

// Step 3: Create ompl planner config and populate it
auto joint_group = env->getJointGroup(manip.manipulator);
auto cur_state = env->getState();

// Specify a start waypoint
JointWaypointPoly wp1{ JointWaypoint(
Expand All @@ -225,7 +224,7 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespacePlannerUnit) // NOLINT
program.appendMoveInstruction(plan_f2);

// Create a seed
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, cur_state, env, 3.14, 1.0, 3.14, 10);
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, env, 3.14, 1.0, 3.14, 10);

// Create Profiles
auto plan_profile = std::make_shared<OMPLDefaultPlanProfile>();
Expand All @@ -248,7 +247,6 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespacePlannerUnit) // NOLINT
PlannerRequest request;
request.instructions = interpolated_program;
request.env = env;
request.env_state = cur_state;
request.profiles = profiles;

// Create Planner and solve
Expand Down Expand Up @@ -295,7 +293,7 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespacePlannerUnit) // NOLINT
program.appendMoveInstruction(plan_f1);

// Create a new seed
interpolated_program = generateInterpolatedProgram(program, cur_state, env, 3.14, 1.0, 3.14, 10);
interpolated_program = generateInterpolatedProgram(program, env, 3.14, 1.0, 3.14, 10);

// Update Configuration
request.instructions = interpolated_program;
Expand Down Expand Up @@ -328,7 +326,7 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespacePlannerUnit) // NOLINT
program.appendMoveInstruction(plan_f1);

// Create a new seed
interpolated_program = generateInterpolatedProgram(program, cur_state, env, 3.14, 1.0, 3.14, 10);
interpolated_program = generateInterpolatedProgram(program, env, 3.14, 1.0, 3.14, 10);

// Update Configuration
request.instructions = interpolated_program;
Expand Down Expand Up @@ -364,7 +362,6 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespaceCartesianGoalPlannerUnit) // NOLINT

// Step 3: Create ompl planner config and populate it
auto kin_group = env->getKinematicGroup(manip.manipulator);
auto cur_state = env->getState();

// Specify a start waypoint
JointWaypointPoly wp1{ JointWaypoint(
Expand All @@ -389,7 +386,7 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespaceCartesianGoalPlannerUnit) // NOLINT
program.appendMoveInstruction(plan_f1);

// Create a seed
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, cur_state, env, 3.14, 1.0, 3.14, 10);
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, env, 3.14, 1.0, 3.14, 10);

// Create Profiles
auto plan_profile = std::make_shared<OMPLDefaultPlanProfile>();
Expand All @@ -412,7 +409,6 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespaceCartesianGoalPlannerUnit) // NOLINT
PlannerRequest request;
request.instructions = interpolated_program;
request.env = env;
request.env_state = cur_state;
request.profiles = profiles;

// Create Planner and solve
Expand Down Expand Up @@ -459,7 +455,6 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespaceCartesianStartPlannerUnit) // NOLINT

// Step 3: Create ompl planner config and populate it
auto kin_group = env->getKinematicGroup(manip.manipulator);
auto cur_state = env->getState();

// Specify a start waypoint
auto start_jv = Eigen::Map<const Eigen::VectorXd>(start_state.data(), static_cast<long>(start_state.size()));
Expand All @@ -484,7 +479,7 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespaceCartesianStartPlannerUnit) // NOLINT
program.appendMoveInstruction(plan_f1);

// Create a seed
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, cur_state, env, 3.14, 1.0, 3.14, 10);
CompositeInstruction interpolated_program = generateInterpolatedProgram(program, env, 3.14, 1.0, 3.14, 10);

// Create Profiles
auto plan_profile = std::make_shared<OMPLDefaultPlanProfile>();
Expand All @@ -507,7 +502,6 @@ TYPED_TEST(OMPLTestFixture, OMPLFreespaceCartesianStartPlannerUnit) // NOLINT
PlannerRequest request;
request.instructions = interpolated_program;
request.env = env;
request.env_state = cur_state;
request.profiles = profiles;

// Create Planner and solve
Expand Down
9 changes: 0 additions & 9 deletions tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/interpolation.h
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Expand Up @@ -46,10 +46,6 @@ namespace tesseract_planning
/** @brief The Joint Group Instruction Information struct */
struct JointGroupInstructionInfo
{
JointGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const PlannerRequest& request,
const tesseract_common::ManipulatorInfo& manip_info);

JointGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const tesseract_environment::Environment& env,
const tesseract_common::ManipulatorInfo& manip_info);
Expand Down Expand Up @@ -101,10 +97,6 @@ struct JointGroupInstructionInfo
/** @brief The Kinematic Group Instruction Information struct */
struct KinematicGroupInstructionInfo
{
KinematicGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const PlannerRequest& request,
const tesseract_common::ManipulatorInfo& manip_info);

KinematicGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const tesseract_environment::Environment& env,
const tesseract_common::ManipulatorInfo& manip_info);
Expand Down Expand Up @@ -515,7 +507,6 @@ std::array<Eigen::VectorXd, 2> getClosestJointSolution(const KinematicGroupInstr

/** @brief Provided for backwards compatibility */
CompositeInstruction generateInterpolatedProgram(const CompositeInstruction& instructions,
const tesseract_scene_graph::SceneState& current_state,
const std::shared_ptr<const tesseract_environment::Environment>& env,
double state_longest_valid_segment_length = 5 * M_PI / 180,
double translation_longest_valid_segment_length = 0.15,
Expand Down
2 changes: 1 addition & 1 deletion .../tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_plan_profile.h
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Expand Up @@ -48,7 +48,7 @@ class SimplePlannerFixedSizeAssignPlanProfile : public SimplePlannerPlanProfile
const MoveInstructionPoly& prev_seed,
const MoveInstructionPoly& base_instruction,
const InstructionPoly& next_instruction,
const PlannerRequest& request,
const std::shared_ptr<const tesseract_environment::Environment>& env,
const tesseract_common::ManipulatorInfo& global_manip_info) const override;

/** @brief The number of steps to use for freespace instruction */
Expand Down
2 changes: 1 addition & 1 deletion ...include/tesseract_motion_planners/simple/profile/simple_planner_fixed_size_plan_profile.h
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Expand Up @@ -47,7 +47,7 @@ class SimplePlannerFixedSizePlanProfile : public SimplePlannerPlanProfile
const MoveInstructionPoly& prev_seed,
const MoveInstructionPoly& base_instruction,
const InstructionPoly& next_instruction,
const PlannerRequest& request,
const std::shared_ptr<const tesseract_environment::Environment>& env,
const tesseract_common::ManipulatorInfo& global_manip_info) const override;

/** @brief The number of steps to use for freespace instruction */
Expand Down
2 changes: 1 addition & 1 deletion .../include/tesseract_motion_planners/simple/profile/simple_planner_lvs_no_ik_plan_profile.h
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Expand Up @@ -61,7 +61,7 @@ class SimplePlannerLVSNoIKPlanProfile : public SimplePlannerPlanProfile
const MoveInstructionPoly& prev_seed,
const MoveInstructionPoly& base_instruction,
const InstructionPoly& next_instruction,
const PlannerRequest& request,
const std::shared_ptr<const tesseract_environment::Environment>& env,
const tesseract_common::ManipulatorInfo& global_manip_info) const override;

/** @brief The maximum joint distance, the norm of changes to all joint positions between successive steps. */
Expand Down
2 changes: 1 addition & 1 deletion ...simple/include/tesseract_motion_planners/simple/profile/simple_planner_lvs_plan_profile.h
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Expand Up @@ -60,7 +60,7 @@ class SimplePlannerLVSPlanProfile : public SimplePlannerPlanProfile
const MoveInstructionPoly& prev_seed,
const MoveInstructionPoly& base_instruction,
const InstructionPoly& next_instruction,
const PlannerRequest& request,
const std::shared_ptr<const tesseract_environment::Environment>& env,
const tesseract_common::ManipulatorInfo& global_manip_info) const override;

/** @brief The maximum joint distance, the norm of changes to all joint positions between successive steps. */
Expand Down
3 changes: 2 additions & 1 deletion ...planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_profile.h
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Expand Up @@ -34,6 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_common/fwd.h>
#include <tesseract_command_language/fwd.h>
#include <tesseract_environment/fwd.h>
#include <tesseract_motion_planners/core/fwd.h>
#include <tesseract_command_language/profile.h>

Expand Down Expand Up @@ -73,7 +74,7 @@ class SimplePlannerPlanProfile : public Profile
const MoveInstructionPoly& prev_seed,
const MoveInstructionPoly& base_instruction,
const InstructionPoly& next_instruction,
const PlannerRequest& request,
const std::shared_ptr<const tesseract_environment::Environment>& env,
const tesseract_common::ManipulatorInfo& global_manip_info) const = 0;

protected:
Expand Down
6 changes: 4 additions & 2 deletions ...t_motion_planners/simple/include/tesseract_motion_planners/simple/simple_motion_planner.h
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Expand Up @@ -35,6 +35,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_motion_planners/core/planner.h>
#include <tesseract_command_language/fwd.h>
#include <tesseract_scene_graph/fwd.h>

namespace tesseract_planning
{
Expand Down Expand Up @@ -66,9 +67,10 @@ class SimpleMotionPlanner : public MotionPlanner
std::unique_ptr<MotionPlanner> clone() const override;

protected:
CompositeInstruction processCompositeInstruction(const CompositeInstruction& instructions,
MoveInstructionPoly& prev_instruction,
CompositeInstruction processCompositeInstruction(MoveInstructionPoly& prev_instruction,
MoveInstructionPoly& prev_seed,
const CompositeInstruction& instructions,
const tesseract_scene_graph::SceneState& start_state,
const PlannerRequest& request) const;
};

Expand Down
16 changes: 0 additions & 16 deletions tesseract_motion_planners/simple/src/interpolation.cpp
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Expand Up @@ -55,13 +55,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP

namespace tesseract_planning
{
JointGroupInstructionInfo::JointGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const PlannerRequest& request,
const tesseract_common::ManipulatorInfo& manip_info)
: JointGroupInstructionInfo(plan_instruction, *request.env, manip_info)
{
}

JointGroupInstructionInfo::JointGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const tesseract_environment::Environment& env,
const tesseract_common::ManipulatorInfo& manip_info)
Expand Down Expand Up @@ -129,13 +122,6 @@ const Eigen::VectorXd& JointGroupInstructionInfo::extractJointPosition() const
return getJointPosition(instruction.getWaypoint());
}

KinematicGroupInstructionInfo::KinematicGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const PlannerRequest& request,
const tesseract_common::ManipulatorInfo& manip_info)
: KinematicGroupInstructionInfo(plan_instruction, *request.env, manip_info)
{
}

KinematicGroupInstructionInfo::KinematicGroupInstructionInfo(const MoveInstructionPoly& plan_instruction,
const tesseract_environment::Environment& env,
const tesseract_common::ManipulatorInfo& manip_info)
Expand Down Expand Up @@ -1325,7 +1311,6 @@ std::array<Eigen::VectorXd, 2> getClosestJointSolution(const KinematicGroupInstr
}

CompositeInstruction generateInterpolatedProgram(const CompositeInstruction& instructions,
const tesseract_scene_graph::SceneState& current_state,
const std::shared_ptr<const tesseract_environment::Environment>& env,
double state_longest_valid_segment_length,
double translation_longest_valid_segment_length,
Expand All @@ -1335,7 +1320,6 @@ CompositeInstruction generateInterpolatedProgram(const CompositeInstruction& ins
// Fill out request and response
PlannerRequest request;
request.instructions = instructions;
request.env_state = current_state;
request.env = env;

// Set up planner
Expand Down
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