From d8f3791ebdf3295e7495d13ce5386eec674a69aa Mon Sep 17 00:00:00 2001 From: methylDragon Date: Tue, 17 Oct 2023 00:11:53 -0700 Subject: [PATCH] Add very important warning to cache class Signed-off-by: methylDragon --- nexus_motion_planner/src/motion_plan_cache.hpp | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/nexus_motion_planner/src/motion_plan_cache.hpp b/nexus_motion_planner/src/motion_plan_cache.hpp index c958757..d4cda80 100644 --- a/nexus_motion_planner/src/motion_plan_cache.hpp +++ b/nexus_motion_planner/src/motion_plan_cache.hpp @@ -50,7 +50,15 @@ namespace motion_planner { * how long they took to execute. This allows for the lookup and reuse of the * best performing plans found so far. * - * WARNING: This cache does NOT yet support collision detection! + * WARNING: + * This cache does NOT support collision detection! + * Plans will be put into and fetched from the cache IGNORING collision. + * If your planning scene is expected to change between cache lookups, do NOT + * use this cache, fetched plans are likely to result in collision then. + * + * To handle collisions this class will need to hash the planning scene world + * msg (after zeroing out std_msgs/Header timestamps and sequences) and do an + * appropriate lookup. * * Relevant ROS Parameters: * - `warehouse_plugin`: What database to use