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WRONG BRANCH#27

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methylDragon wants to merge 34 commits intomainosrf/nexus:mainfrom ch3/plan-cache-code-review-fixesosrf/nexus:ch3/plan-cache-code-review-fixesCopy head branch name to clipboard

+2,277-22

Commits

Commits on Nov 20, 2023

• Add motion plan cache

  Show description for 15e7370
  methylDragon

  committed
  15e7370

• Switch to snake case for function names

  Show description for c715b29
  methylDragon

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  c715b29

• Print cache fetch time and key plans on planned execution time

  Show description for 16784bb
  methylDragon

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  16784bb

• Add overwrite_worse_plans param

  Show description for 8889982
  methylDragon

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  8889982

• Fix plan fetching printout and don't recache fetched plans

  Show description for 32659fd
  methylDragon

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  32659fd

• Update only use cached plans parameter name

  Show description for b683eab
  methylDragon

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  b683eab

• Add copyright headers and motion_planner namespace

  Show description for 5c94f49
  methylDragon

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  5c94f49

• Make motion_plan_cache a unique_ptr instead of shared_ptr

  Show description for 856c009
  methylDragon

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  856c009

• Set numerical precision

  Show description for dd323a5
  methylDragon

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  dd323a5

• Use enum for planner database mode

  Show description for 52db5b5
  methylDragon

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  52db5b5

• Rename cache methods to prepare for cartesian caching

  Show description for e0d4cbc
  methylDragon

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  e0d4cbc

• Add very important warning to cache class

  Show description for d7bd142
  methylDragon

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  d7bd142

• Fix access after move bug

  Show description for f161f45
  methylDragon

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  f161f45

• Remove internal cache node

  Show description for ca0f123
  methylDragon

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  ca0f123

• Add cartesian plan caching interfaces

  Show description for e4ec917
  methylDragon

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  e4ec917

• Add construct_get_cartesian_plan_request

  Show description for caada7e
  methylDragon

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  caada7e

• Add goal query and metadata

  Show description for 019dbfb
  methylDragon

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  019dbfb

• Add start query and metadata

  Show description for 3b70b6e
  methylDragon

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  3b70b6e

• Implement top level cache ops

  Show description for 87fda73
  methylDragon

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  87fda73

• Use motion plan cache for cartesian plans

  Show description for 7d70524
  methylDragon

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  7d70524

• Allow mismatched plan frames since we coerce anyway

  Show description for 188215b
  methylDragon

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  188215b

• Fix move bug

  Show description for b2cda90
  methylDragon

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  b2cda90

• Remove query appending macro

  Show description for 6ad592e
  methylDragon

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  6ad592e

• Default to warehouse_ros plugin if warehouse plugin isn't set

  Show description for 5563f3c
  methylDragon

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  5563f3c

• Return and use init result

  Show description for 03afb8e
  methylDragon

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  03afb8e

• Add todo for catching exceptions

  Show description for 0e84dd4
  methylDragon

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  0e84dd4

• Implement plan fetching with configurable key

  Show description for 6004f96
  methylDragon

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  6004f96

• Add comments for exact match tolerance

  Show description for ccbf91c
  methylDragon

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  ccbf91c

• Slightly refactor put plan

  Show description for 06cdcf9
  methylDragon

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  06cdcf9

• Rename overwrite to delete_worse_plans

  Show description for d1847ba
  methylDragon

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  d1847ba

• Split out motion plan cache into its own library

  Show description for 6e5b963
  methylDragon

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  6e5b963

Commits on Nov 21, 2023

• Sort constraints for reduced cardinality

  Show description for 636b4d5
  methylDragon

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  636b4d5

• Rename util function

  Show description for 5ea5ad5
  methylDragon

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  5ea5ad5

• Add todo for is_diff

  Show description for bbc07ce
  methylDragon

  committed
  bbc07ce