From bbc07cec581f5b127ec7f86227da69b078994a38 Mon Sep 17 00:00:00 2001 From: methylDragon Date: Mon, 20 Nov 2023 19:55:09 -0800 Subject: [PATCH] Add todo for is_diff Signed-off-by: methylDragon --- .../src/motion_plan_cache.cpp | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/nexus_motion_planner/src/motion_plan_cache.cpp b/nexus_motion_planner/src/motion_plan_cache.cpp index b3655cb..b2e8096 100644 --- a/nexus_motion_planner/src/motion_plan_cache.cpp +++ b/nexus_motion_planner/src/motion_plan_cache.cpp @@ -351,6 +351,13 @@ MotionPlanCache::extract_and_append_plan_start_to_query( // I think if is_diff is on, the joint states will not be populated in all // of our motion plan requests? If this isn't the case we might need to // apply the joint states as offsets as well. + // + // TODO: Since MoveIt also potentially does another getCurrentState() call + // when planning, there is a chance that the current state in the cache + // differs from the state used in MoveIt's plan. + // + // When upstreaming this class to MoveIt, this issue should go away once + // the class is used within the move group's Plan call. moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); if (!current_state) { @@ -686,6 +693,13 @@ MotionPlanCache::extract_and_append_plan_start_to_metadata( // I think if is_diff is on, the joint states will not be populated in all // of our motion plan requests? If this isn't the case we might need to // apply the joint states as offsets as well. + // + // TODO: Since MoveIt also potentially does another getCurrentState() call + // when planning, there is a chance that the current state in the cache + // differs from the state used in MoveIt's plan. + // + // When upstreaming this class to MoveIt, this issue should go away once + // the class is used within the move group's Plan call. moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); if (!current_state) { @@ -1215,6 +1229,13 @@ MotionPlanCache::extract_and_append_cartesian_plan_start_to_query( // I think if is_diff is on, the joint states will not be populated in all // of our motion plan requests? If this isn't the case we might need to // apply the joint states as offsets as well. + // + // TODO: Since MoveIt also potentially does another getCurrentState() call + // when planning, there is a chance that the current state in the cache + // differs from the state used in MoveIt's plan. + // + // When upstreaming this class to MoveIt, this issue should go away once + // the class is used within the move group's Plan call. moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); if (!current_state) { @@ -1418,6 +1439,13 @@ MotionPlanCache::extract_and_append_cartesian_plan_start_to_metadata( // I think if is_diff is on, the joint states will not be populated in all // of our motion plan requests? If this isn't the case we might need to // apply the joint states as offsets as well. + // + // TODO: Since MoveIt also potentially does another getCurrentState() call + // when planning, there is a chance that the current state in the cache + // differs from the state used in MoveIt's plan. + // + // When upstreaming this class to MoveIt, this issue should go away once + // the class is used within the move group's Plan call. moveit::core::RobotStatePtr current_state = move_group.getCurrentState(); if (!current_state) {