From 849552e142c9e45b4112149d7d38b83d91f23377 Mon Sep 17 00:00:00 2001 From: Shobuj Paul Date: Fri, 15 Sep 2023 18:56:12 +0530 Subject: [PATCH] Used const references for lambdas --- create_client | 252 ++++++++++++++++++ .../moveit/ompl_interface/ompl_interface.h | 2 +- .../ompl_interface/src/ompl_interface.cpp | 8 +- 3 files changed, 257 insertions(+), 5 deletions(-) create mode 100644 create_client diff --git a/create_client b/create_client new file mode 100644 index 00000000000..74511c8c1fe --- /dev/null +++ b/create_client @@ -0,0 +1,252 @@ +moveit_setup_assistant/moveit_setup_controllers/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_setup_assistant/moveit_setup_assistant/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_setup_assistant/moveit_setup_app_plugins/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_linear_model.cpp: Q_EMIT dataChanged(this->index(r, 2), this->index(r, 3)); // reason changed too +moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_matrix_model.cpp: LinkPairMap::const_iterator item = this->item(index); +moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_matrix_model.cpp: LinkPairMap::const_iterator item = this->item(index); +moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_matrix_model.cpp: LinkPairMap::iterator item = this->item(index); +moveit_setup_assistant/moveit_setup_srdf_plugins/src/collision_matrix_model.cpp: QModelIndex mirror = this->index(index.column(), index.row()); +moveit_setup_assistant/moveit_setup_srdf_plugins/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_setup_assistant/moveit_setup_framework/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_setup_assistant/moveit_setup_core_plugins/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_ros/visualization/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp: this->setMeshDistance(this->GetParam()); +moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp: this->test(); +moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp: this->setMeshDistance(this->GetParam()); +moveit_ros/perception/mesh_filter/test/mesh_filter_test.cpp: this->test(); +moveit_ros/robot_interaction/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_ros/moveit_servo/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_ros/hybrid_planning/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_ros/planning_interface/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_kinematics/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_kinematics/test/test_kinematics_plugin.cpp: robot_state.setToRandomPositions(jmg_, this->rng_); +moveit_kinematics/test/test_kinematics_plugin.cpp: robot_state.setToRandomPositions(jmg_, this->rng_); +moveit_kinematics/test/test_kinematics_plugin.cpp: robot_state.setToRandomPositions(jmg_, this->rng_); +moveit_kinematics/test/test_kinematics_plugin.cpp: robot_state.setToRandomPositions(jmg_, this->rng_); +moveit_kinematics/test/test_kinematics_plugin.cpp: robot_state.setToRandomPositions(jmg_, this->rng_); +moveit_kinematics/test/test_kinematics_plugin.cpp: robot_state.setToRandomPositions(jmg_, this->rng_); +moveit_kinematics/test/test_kinematics_plugin.cpp: robot_state.setToRandomPositions(jmg_, this->rng_); +moveit_core/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_core/collision_detection_bullet/src/bullet_integration/bullet_utils.cpp: this->touch_links = touch_links; +moveit_core/robot_state/test/test_aabb.cpp: moveit::core::RobotState pr2_state = this->loadModel("pr2"); +moveit_core/robot_state/test/test_aabb.cpp: moveit::core::RobotState complex_state = this->loadModel(builder.build()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: ASSERT_TRUE(this->robot_model_ok_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->robot_state_->setJointPositions("panda_joint2", &joint2); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->robot_state_->setJointPositions("panda_joint4", &joint4); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->robot_state_->update(); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->addToObject("box", pos1, shape_ptr, Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->moveObject("box", pos1); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->moveObject("box", pos1); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->addToObject("box", pos1, shape_ptr, Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->addToObject("box", pos, shape_ptr, Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->setLinkPadding("panda_hand", 0.08); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->setLinkPadding("panda_hand", 0.0); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkSelfCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->addToObject("box", pos, shape_ptr, Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->setLinkPadding("panda_hand", 0.0); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->checkRobotCollision(req, res, *this->robot_state_, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: std::set active_components{ this->robot_model_->getLinkModel("panda_hand") }; +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->addToObject("collection", Eigen::Isometry3d::Identity(), shape, pose); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->removeObject("object"); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->addToObject("object", pose, shape, Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->distanceRobot(req, res, *this->robot_state_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->getWorld()->addToObject("box", shape_ptr, pos); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: req.acm = &*this->acm_; +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_panda.h: this->cenv_->distanceRobot(req, res, *this->robot_state_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: ASSERT_TRUE(this->robot_model_ok_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_->setEntry("base_link", "base_bellow_link", false); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res1, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_->setEntry("base_link", "base_bellow_link", true); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res2, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res3, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_->setEntry("base_link", "base_bellow_link", false); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_ = +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: std::make_shared(this->robot_model_->getLinkModelNames(), false); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_->setEntry("r_gripper_palm_link", "l_gripper_palm_link", false); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res2, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res2, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_ = +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: std::make_shared(this->robot_model_->getLinkModelNames(), true); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("box", pos1, shapes::ShapeConstPtr(shape), Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkRobotCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->removeObject("box"); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("coll", pos1, shapes::ShapeConstPtr(coll), Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkRobotCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->acm_->setEntry("coll", "r_gripper_palm_link", true); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkRobotCollision(req, res, robot_state, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: collision_detection::CollisionEnvPtr new_cenv = this->value_->allocateEnv(this->cenv_, this->cenv_->getWorld()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: shapes[0].reset(shapes::createMeshFromResource(this->kinect_dae_resource_)); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: collision_detection::CollisionEnvPtr other_new_cenv = this->value_->allocateEnv(this->cenv_, this->cenv_->getWorld()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: shapes::ShapeConstPtr shape(shapes::createMeshFromResource(this->kinect_dae_resource_)); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("kinect", pos1, shape, Eigen::Isometry3d::Identity()); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkRobotCollision(req, res, robot_state); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkRobotCollision(req, res, robot_state); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: collision_detection::CollisionEnv::ObjectConstPtr object = this->cenv_->getWorld()->getObject("kinect"); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->removeObject("kinect"); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state1(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state2(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state1); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state1, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkSelfCollision(req, res, robot_state2, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("map", shapes, poses); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state1(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: kinect_shape.reset(shapes::createMeshFromResource(this->kinect_dae_resource_)); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->moveShapeInObject("kinect", kinect_shape, np); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkCollision(req, res, robot_state1, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: moveit::core::RobotState robot_state1(this->robot_model_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->removeObject("shape"); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("shape", shapes, poses); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkCollision(req, res, robot_state1, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: kinect_shape.reset(shapes::createMeshFromResource(this->kinect_dae_resource_)); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("kinect", kinect_shape, kinect_pose); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkCollision(req2, res2, robot_state1, *this->acm_); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->removeObject("shape"); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->getWorld()->addToObject("shape", shapes, poses); +moveit_core/collision_detection/include/moveit/collision_detection/test_collision_common_pr2.h: this->cenv_->checkCollision(req, res, robot_state1, *this->acm_); +moveit_planners/chomp/chomp_motion_planner/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h: this->triggerClearEvent(str); \ +moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h:#define ACTION_OPEN_BARRIER_VOID(str) ::testing::InvokeWithoutArgs([this]() { this->triggerClearEvent(str); }) +moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/async_test.h: [this](const std::string& event) { return this->waitlist_.count(event) == 0; }); +moveit_planners/pilz_industrial_motion_planner_testutils/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_planners/pilz_industrial_motion_planner/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: req.group_name = this->planning_group_; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: moveit::core::RobotState rstate(this->robot_model_); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: rstate.setJointGroupPositions(this->planning_group_, +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: rstate.setFromIK(this->robot_model_->getJointModelGroup(this->planning_group_), start_pose); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: rstate.setFromIK(this->robot_model_->getJointModelGroup(this->planning_group_), goal_pose); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: rstate, this->robot_model_->getJointModelGroup(this->planning_group_))); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: center_point.link_name = this->target_link_; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: bool result = this->planning_context_->solve(res); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: planning_interface::MotionPlanRequest req = this->getValidRequest(testutils::demangle(typeid(TypeParam).name())); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: this->planning_context_->setMotionPlanRequest(req); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: bool result = this->planning_context_->solve(res); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: bool result_detailed = this->planning_context_->solve(res_detailed); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: planning_interface::MotionPlanRequest req = this->getValidRequest(testutils::demangle(typeid(TypeParam).name())); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: this->planning_context_->setMotionPlanRequest(req); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: bool result = this->planning_context_->solve(res); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: planning_interface::MotionPlanRequest req = this->getValidRequest(testutils::demangle(typeid(TypeParam).name())); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: this->planning_context_->setMotionPlanRequest(req); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: bool result_termination = this->planning_context_->terminate(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: bool result = this->planning_context_->solve(res); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_planning_context.cpp: EXPECT_NO_THROW(this->planning_context_->clear()) << testutils::demangle(typeid(TypeParam).name()); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: joint_constraint.joint_name = this->robot_model_->getActiveJointModels().front()->getName(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.max_velocity_scaling_factor = 2.0; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.max_velocity_scaling_factor = 1.0; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.max_acceleration_scaling_factor = 0; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.max_velocity_scaling_factor = 0.00001; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.max_acceleration_scaling_factor = 1; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.max_velocity_scaling_factor = 1; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.max_acceleration_scaling_factor = -1; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.group_name = "foot"; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME, this->res_.error_code.val); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.group_name = "gripper"; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME, this->res_.error_code.val); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp:// this->req_.group_name = "gripper"; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp:// EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp:// EXPECT_EQ(moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS, this->res_.error_code.val); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp:// EXPECT_FALSE(this->trajectory_generator_->generate(this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp:// EXPECT_EQ(this->res_.error_code.val, +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.start_state.joint_state.name.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.start_state.joint_state.name.push_back("joint_7"); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.start_state.joint_state.position[0] = 100; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.start_state.joint_state.velocity[0] = 100; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.front().joint_constraints[0] = joint_constraint; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.front().joint_constraints.pop_back(); //<-- Missing joint constraint +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.front().joint_constraints[0].position = 100; +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->robot_model_->getJointModelGroup(this->planning_group_)->getLinkModelNames().back(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.clear(); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: this->req_.goal_constraints.push_back(goal_constraint); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_FALSE(this->trajectory_generator_->generate(this->planning_scene_, this->req_, this->res_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_common.cpp: EXPECT_EQ(this->res_.error_code.val, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: EXPECT_THROW(TrajectoryGeneratorPTP(this->robot_model_, planner_limits, planning_group_), +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: new robot_trajectory::RobotTrajectory(this->robot_model_, planning_group_)); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: moveit::core::RobotState state(this->robot_model_); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: EXPECT_THROW(TrajectoryGeneratorPTP(this->robot_model_, planner_limits, planning_group_), +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: EXPECT_THROW(TrajectoryGeneratorPTP(this->robot_model_, planner_limits, planning_group_), +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: [this](double v) { return std::fabs(v) < this->joint_velocity_tolerance_; })); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: [this](double v) { return std::fabs(v) < this->joint_acceleration_tolerance_; })); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: [this](double v) { return std::fabs(v) < this->joint_velocity_tolerance_; })); +moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_generator_ptp.cpp: [this](double v) { return std::fabs(v) < this->joint_acceleration_tolerance_; })); +moveit_planners/ompl/CHANGELOG.rst:* Minimize use of `this->` (`#1784 `_) diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h index 0065e506c9d..16ce27c1c88 100644 --- a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h +++ b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h @@ -75,7 +75,7 @@ class OMPLInterface * @param request the service request * @param response the service response */ - void storePlannerData(const std::shared_ptr request, + void storePlannerData(const std::shared_ptr& request, std::shared_ptr response); /** @brief Specify configurations for the planners. diff --git a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp index 1cc074066af..648198d426b 100644 --- a/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp +++ b/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp @@ -60,8 +60,8 @@ OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model store_planner_data_service_ = node_->create_service( "store_planner_data", - [this](const std::shared_ptr, - std::shared_ptr response) -> void { + [this](const std::shared_ptr& /* unused */, + const std::shared_ptr& response) -> void { bool success = context_manager_.storePlannerData(); response->success = success; if (success) @@ -91,8 +91,8 @@ OMPLInterface::OMPLInterface(const moveit::core::RobotModelConstPtr& robot_model store_planner_data_service_ = node_->create_service( "store_planner_data", - [this](const std::shared_ptr, - std::shared_ptr response) -> void { + [this](const std::shared_ptr& /* unused */, + const std::shared_ptr& response) -> void { bool success = context_manager_.storePlannerData(); response->success = success; if (success)