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Added insertion directly into planning_graph w/o planning #177

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Added insertion directly into planning_graph w/o planning #177

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1 change: 0 additions & 1 deletion descartes_core/include/descartes_core/path_planner_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,6 @@ class PathPlannerBase
/**
* @brief Plans a path for the given robot model and configuration parameters.
* @param model robot model implementation for which to plan a path
* @param config A map containing the parameter/value pairs.
*/
virtual bool initialize(RobotModelConstPtr model) = 0;

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4 changes: 4 additions & 0 deletions descartes_planner/include/descartes_planner/dense_planner.h
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Expand Up @@ -26,6 +26,10 @@ class DensePlanner : public descartes_core::PathPlannerBase
virtual bool setConfig(const descartes_core::PlannerConfig& config);
virtual void getConfig(descartes_core::PlannerConfig& config) const;
virtual bool planPath(const std::vector<descartes_core::TrajectoryPtPtr>& traj);

/** \brief Populate a Cartesian trajectory graph, but do not solve. For use by external solvers */
virtual bool insertGraph(const std::vector<descartes_core::TrajectoryPtPtr>& traj);

virtual bool getPath(std::vector<descartes_core::TrajectoryPtPtr>& path) const;
virtual bool addAfter(const descartes_core::TrajectoryPt::ID& ref_id, descartes_core::TrajectoryPtPtr tp);
virtual bool addBefore(const descartes_core::TrajectoryPt::ID& ref_id, descartes_core::TrajectoryPtPtr tp);
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17 changes: 16 additions & 1 deletion descartes_planner/src/dense_planner.cpp
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Expand Up @@ -199,7 +199,6 @@ bool DensePlanner::planPath(const std::vector<descartes_core::TrajectoryPtPtr>&
return false;
}

double cost;
path_.clear();
error_code_ = descartes_core::PlannerError::EMPTY_PATH;

Expand All @@ -215,6 +214,22 @@ bool DensePlanner::planPath(const std::vector<descartes_core::TrajectoryPtPtr>&
return descartes_core::PlannerError::OK == error_code_;
}

bool DensePlanner::insertGraph(const std::vector<descartes_core::TrajectoryPtPtr>& traj)
{
if(error_code_ == descartes_core::PlannerError::UNINITIALIZED)
{
ROS_ERROR_STREAM("Planner has not been initialized");
return false;
}

if(!planning_graph_->insertGraph(&traj))
{
return false;
}

return true;
}

bool DensePlanner::getPath(std::vector<descartes_core::TrajectoryPtPtr>& path) const
{
if (path_.empty())
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