Update descartes profiles (#546)

tesseract-robotics · Dec 18, 2024 · 40c14ab · 40c14ab
1 parent 51f87af
commit 40c14ab
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Showing 18 changed files with 438 additions and 969 deletions.
diff --git a/tesseract_motion_planners/descartes/CMakeLists.txt b/tesseract_motion_planners/descartes/CMakeLists.txt
@@ -8,11 +8,10 @@ add_library(
   src/descartes_collision.cpp
   src/descartes_collision_edge_evaluator.cpp
   src/descartes_robot_sampler.cpp
-  src/serialize.cpp
-  src/deserialize.cpp
   src/descartes_utils.cpp
   src/profile/descartes_profile.cpp
-  src/profile/descartes_default_plan_profile.cpp)
+  src/profile/descartes_default_plan_profile.cpp
+  src/profile/descartes_ladder_graph_solver_profile.cpp)
 target_link_libraries(
   ${PROJECT_NAME}_descartes
   PUBLIC ${PROJECT_NAME}_core

diff --git a/...planners/descartes/include/tesseract_motion_planners/descartes/descartes_motion_planner.h b/...planners/descartes/include/tesseract_motion_planners/descartes/descartes_motion_planner.h
@@ -2,7 +2,6 @@
 #define TESSERACT_MOTION_PLANNERS_DECARTES_MOTION_PLANNER_H
 
 #include <tesseract_motion_planners/core/planner.h>
-#include <tesseract_motion_planners/descartes/descartes_problem.h>
 
 namespace tesseract_planning
 {
@@ -25,8 +24,6 @@ class DescartesMotionPlanner : public MotionPlanner
   void clear() override;
 
   std::unique_ptr<MotionPlanner> clone() const override;
-
-  virtual std::shared_ptr<DescartesProblem<FloatType>> createProblem(const PlannerRequest& request) const;
 };
 
 using DescartesMotionPlannerD = DescartesMotionPlanner<double>;

diff --git a/...motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_problem.h b/...motion_planners/descartes/include/tesseract_motion_planners/descartes/descartes_problem.h
diff --git a/...eract_motion_planners/descartes/include/tesseract_motion_planners/descartes/deserialize.h b/...eract_motion_planners/descartes/include/tesseract_motion_planners/descartes/deserialize.h