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Fuzzy-matching Trajectory Cache Injectable Traits refactor 🔥🔥 #2941

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Fuzzy-matching Trajectory Cache Injectable Traits refactor 🔥🔥 #2941

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Commits on Aug 22, 2024

  1. Implement trajectory cache 

    Signed-off-by: methylDragon <[email protected]>
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  2. Add README 

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  3. Move test cpp to test directory 

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  4. Clean up logging and comments 

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    methylDragon committed Aug 22, 2024
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  5. Use move_group node for time 

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  6. Add and use logger 

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  7. Use new move_group accessors 

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  8. Coerce variable and method names to style 

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  9. Formatting pass 

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  10. Add docstrings 

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  11. Add ability to sort in descending order 

    Signed-off-by: methylDragon <[email protected]>
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  12. Add RFE for custom cost functions 

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  13. Formatting pass 

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  14. Fix build for downstream packages 

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    methylDragon committed Aug 22, 2024
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  15. Always get some workspace frame ID 

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  16. Always get some cartesian path request frame ID 

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  17. Fix tests 

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  18. Add const qualifiers as appropriate 

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  19. Add accessors, and support for preserving K plans 

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  20. Edit docs and rename puts to inserts 

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  21. Make clang tidy happy 

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  22. Fix CMakeLists.txt 

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  23. Make getters const 

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  24. Clarify frame ID utils docstrings 

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  25. Elaborate on trajectory cache benefits 

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  26. Fix CHANGELOG, and make library shared 

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Commits on Sep 11, 2024

  1. Merge branch 'main' into ch3/trajectory_cache

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  2. Add utils library with test fixtures 

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  3. Add features interface with constant features 

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  4. Add constraint feature extractor utils 

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  5. Add RobotState.joint_state feature extractor utils 

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  6. Add MotionPlanRequest features 

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  7. Add GetCartesianPlanRequest features 

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  8. Use namespace declarations and do cleanups 

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  9. Add CacheInsertPolicyInterface and AlwaysInsertNeverPrunePolicy 

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  10. Add CartesianAlwaysInsertNeverPrunePolicy 

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  11. Init policy features on construction 

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  12. Add execution time extraction util 

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  13. Add BestSeenExecutionTimePolicy and rename methods 

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  14. Add CartesianBestSeenExecutionTimePolicy 

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  15. Return reason string from cache insert policy methods 

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  16. Refactor TrajectoryCache to use the interfaces 

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  17. Move test fixtures to their own directory 

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  18. Fix bugs and build 

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  19. Fix formatting and clang-tidy 

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  20. Update CHANGELOG 

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  21. Make clang-tidy happy 

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  22. Update README 

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  23. Enable unrelated query matching test 

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  24. Make libraries shared 

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Commits on Sep 17, 2024

  1. Merge remote-tracking branch 'moveit/main' into ch3/trajectory-cache-… 

    …refactor
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