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Plan cache code review fixes (sans unit tests) #26

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merged 13 commits into from
Nov 27, 2023
Merged

Plan cache code review fixes (sans unit tests) #26

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6ad592e
Remove query appending macro
methylDragon Nov 20, 2023
5563f3c
Default to warehouse_ros plugin if warehouse plugin isn't set
methylDragon Nov 20, 2023
03afb8e
Return and use init result
methylDragon Nov 20, 2023
0e84dd4
Add todo for catching exceptions
methylDragon Nov 20, 2023
6004f96
Implement plan fetching with configurable key
methylDragon Nov 20, 2023
ccbf91c
Add comments for exact match tolerance
methylDragon Nov 20, 2023
06cdcf9
Slightly refactor put plan
methylDragon Nov 20, 2023
d1847ba
Rename overwrite to delete_worse_plans
methylDragon Nov 20, 2023
6e5b963
Split out motion plan cache into its own library
methylDragon Nov 20, 2023
636b4d5
Sort constraints for reduced cardinality
methylDragon Nov 21, 2023
5ea5ad5
Rename util function
methylDragon Nov 21, 2023
bbc07ce
Add todo for is_diff
methylDragon Nov 21, 2023
1af731b
Add unit tests for motion plan cache (#28)
methylDragon Nov 27, 2023
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9 changes: 7 additions & 2 deletions nexus_motion_planner/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -43,12 +43,17 @@ set (test_request_dependencies
)

#===============================================================================
set(LIBRARY_NAME motion_planner_server_core)
set(MOTION_PLAN_CACHE_LIBRARY_NAME motion_planner_server_core)
set(EXECUTABLE_NAME motion_planner_server)

# Motion plan cache library
add_library(${MOTION_PLAN_CACHE_LIBRARY_NAME} src/motion_plan_cache.cpp)
ament_target_dependencies(${MOTION_PLAN_CACHE_LIBRARY_NAME} ${motion_planner_server_dependencies})

# Server executable
add_executable(${EXECUTABLE_NAME} src/main.cpp src/motion_planner_server.cpp src/motion_plan_cache.cpp)
add_executable(${EXECUTABLE_NAME} src/main.cpp src/motion_planner_server.cpp)
ament_target_dependencies(${EXECUTABLE_NAME} ${motion_planner_server_dependencies})
target_link_libraries(${EXECUTABLE_NAME} ${MOTION_PLAN_CACHE_LIBRARY_NAME})

# Test executable
add_executable(test_request src/test_request.cpp)
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