From b10353fe1b03fdac06b028dd4975cf1d907ee557 Mon Sep 17 00:00:00 2001 From: Michael Ripperger Date: Sat, 8 Jan 2022 19:49:14 -0600 Subject: [PATCH] Updated process manager examples to add default profiles and use only default profile names --- .../examples/freespace_manager_example.cpp | 1 + tesseract_process_managers/examples/memory_usage_example.cpp | 1 + tesseract_process_managers/examples/raster_manager_example.cpp | 3 ++- .../examples/taskflow_profiling_example.cpp | 1 + 4 files changed, 5 insertions(+), 1 deletion(-) diff --git a/tesseract_process_managers/examples/freespace_manager_example.cpp b/tesseract_process_managers/examples/freespace_manager_example.cpp index a169561fab2..bafcaf023a0 100644 --- a/tesseract_process_managers/examples/freespace_manager_example.cpp +++ b/tesseract_process_managers/examples/freespace_manager_example.cpp @@ -68,6 +68,7 @@ int main() // Create Process Planning Server ProcessPlanningServer planning_server(std::make_shared(env), 1); planning_server.loadDefaultProcessPlanners(); + planning_server.loadDefaultProfiles(); // Create Process Planning Request ProcessPlanningRequest request; diff --git a/tesseract_process_managers/examples/memory_usage_example.cpp b/tesseract_process_managers/examples/memory_usage_example.cpp index c090927d6d8..46e10ec123b 100644 --- a/tesseract_process_managers/examples/memory_usage_example.cpp +++ b/tesseract_process_managers/examples/memory_usage_example.cpp @@ -151,6 +151,7 @@ int main() // Create Process Planning Server ProcessPlanningServer planning_server(std::make_shared(env), 5); planning_server.loadDefaultProcessPlanners(); + planning_server.loadDefaultProfiles(); // Solve process plan using Clock = std::chrono::high_resolution_clock; diff --git a/tesseract_process_managers/examples/raster_manager_example.cpp b/tesseract_process_managers/examples/raster_manager_example.cpp index 53eece8042d..32f68886a15 100644 --- a/tesseract_process_managers/examples/raster_manager_example.cpp +++ b/tesseract_process_managers/examples/raster_manager_example.cpp @@ -69,13 +69,14 @@ int main() // Create Process Planning Server ProcessPlanningServer planning_server(std::make_shared(env), 1); planning_server.loadDefaultProcessPlanners(); + planning_server.loadDefaultProfiles(); // Create Process Planning Request ProcessPlanningRequest request; request.name = process_planner_names::RASTER_G_FT_PLANNER_NAME; // Define the program - CompositeInstruction program = rasterExampleProgram(); + CompositeInstruction program = rasterExampleProgram(DEFAULT_PROFILE_KEY, DEFAULT_PROFILE_KEY); request.instructions = Instruction(program); // Print Diagnostics diff --git a/tesseract_process_managers/examples/taskflow_profiling_example.cpp b/tesseract_process_managers/examples/taskflow_profiling_example.cpp index 97d20fecc45..c906f805ccc 100644 --- a/tesseract_process_managers/examples/taskflow_profiling_example.cpp +++ b/tesseract_process_managers/examples/taskflow_profiling_example.cpp @@ -99,6 +99,7 @@ int main() // Create Process Planning Server ProcessPlanningServer planning_server(std::make_shared(env), 1); planning_server.loadDefaultProcessPlanners(); + planning_server.loadDefaultProfiles(); for (int idx = -10; idx < 10; idx++) {