From 36fe4c98be569f09e5e3a5fee78963b9def95563 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 19 Oct 2018 20:52:04 +0200 Subject: [PATCH] reduce copying of shared ptrs --- .../moveit/task_constructor/solvers/cartesian_path.h | 6 +++--- .../moveit/task_constructor/solvers/joint_interpolation.h | 6 +++--- .../moveit/task_constructor/solvers/pipeline_planner.h | 6 +++--- .../moveit/task_constructor/solvers/planner_interface.h | 6 +++--- core/include/moveit/task_constructor/task.h | 3 ++- core/src/solvers/cartesian_path.cpp | 6 +++--- core/src/solvers/joint_interpolation.cpp | 6 +++--- core/src/solvers/pipeline_planner.cpp | 6 +++--- 8 files changed, 23 insertions(+), 22 deletions(-) diff --git a/core/include/moveit/task_constructor/solvers/cartesian_path.h b/core/include/moveit/task_constructor/solvers/cartesian_path.h index c9d2ff0b..d491f128 100644 --- a/core/include/moveit/task_constructor/solvers/cartesian_path.h +++ b/core/include/moveit/task_constructor/solvers/cartesian_path.h @@ -59,14 +59,14 @@ public: void init(const moveit::core::RobotModelConstPtr& robot_model) override; - bool plan(const planning_scene::PlanningSceneConstPtr from, - const planning_scene::PlanningSceneConstPtr to, + bool plan(const planning_scene::PlanningSceneConstPtr& from, + const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; - bool plan(const planning_scene::PlanningSceneConstPtr from, + bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel &link, const Eigen::Affine3d& target, const moveit::core::JointModelGroup *jmg, diff --git a/core/include/moveit/task_constructor/solvers/joint_interpolation.h b/core/include/moveit/task_constructor/solvers/joint_interpolation.h index 64a5ca36..20901121 100644 --- a/core/include/moveit/task_constructor/solvers/joint_interpolation.h +++ b/core/include/moveit/task_constructor/solvers/joint_interpolation.h @@ -55,14 +55,14 @@ public: void init(const moveit::core::RobotModelConstPtr& robot_model) override; - bool plan(const planning_scene::PlanningSceneConstPtr from, - const planning_scene::PlanningSceneConstPtr to, + bool plan(const planning_scene::PlanningSceneConstPtr& from, + const planning_scene::PlanningSceneConstPtr& to, const core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override; - bool plan(const planning_scene::PlanningSceneConstPtr from, + bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel &link, const Eigen::Affine3d& target, const core::JointModelGroup *jmg, diff --git a/core/include/moveit/task_constructor/solvers/pipeline_planner.h b/core/include/moveit/task_constructor/solvers/pipeline_planner.h index 8c609c65..a27ad514 100644 --- a/core/include/moveit/task_constructor/solvers/pipeline_planner.h +++ b/core/include/moveit/task_constructor/solvers/pipeline_planner.h @@ -58,14 +58,14 @@ public: void init(const moveit::core::RobotModelConstPtr& robot_model) override; - bool plan(const planning_scene::PlanningSceneConstPtr from, - const planning_scene::PlanningSceneConstPtr to, + bool plan(const planning_scene::PlanningSceneConstPtr& from, + const planning_scene::PlanningSceneConstPtr& to, const core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override; - bool plan(const planning_scene::PlanningSceneConstPtr from, + bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel &link, const Eigen::Affine3d& target, const core::JointModelGroup *jmg, diff --git a/core/include/moveit/task_constructor/solvers/planner_interface.h b/core/include/moveit/task_constructor/solvers/planner_interface.h index 0a1a51a1..d55d13e9 100644 --- a/core/include/moveit/task_constructor/solvers/planner_interface.h +++ b/core/include/moveit/task_constructor/solvers/planner_interface.h @@ -75,15 +75,15 @@ public: virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0; /// plan trajectory between to robot states - virtual bool plan(const planning_scene::PlanningSceneConstPtr from, - const planning_scene::PlanningSceneConstPtr to, + virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, + const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0; /// plan trajectory from current robot state to Cartesian target - virtual bool plan(const planning_scene::PlanningSceneConstPtr from, + virtual bool plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel &link, const Eigen::Affine3d& target, const moveit::core::JointModelGroup *jmg, diff --git a/core/include/moveit/task_constructor/task.h b/core/include/moveit/task_constructor/task.h index 0e26900c..799e4474 100644 --- a/core/include/moveit/task_constructor/task.h +++ b/core/include/moveit/task_constructor/task.h @@ -80,7 +80,8 @@ public: ~Task(); std::string id() const; - const moveit::core::RobotModelConstPtr getRobotModel() const { return robot_model_; } + + const moveit::core::RobotModelConstPtr& getRobotModel() const { return robot_model_; } /// setting the robot model also resets the task void setRobotModel(const moveit::core::RobotModelConstPtr& robot_model); /// load robot model from given parameter diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp index 70751408..f7382ce0 100644 --- a/core/src/solvers/cartesian_path.cpp +++ b/core/src/solvers/cartesian_path.cpp @@ -56,8 +56,8 @@ void CartesianPath::init(const core::RobotModelConstPtr &robot_model) { } -bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from, - const planning_scene::PlanningSceneConstPtr to, +bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, + const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, @@ -74,7 +74,7 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from, jmg, timeout, result, path_constraints); } -bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from, +bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel &link, const Eigen::Affine3d &target, const moveit::core::JointModelGroup *jmg, diff --git a/core/src/solvers/joint_interpolation.cpp b/core/src/solvers/joint_interpolation.cpp index 682af2eb..543b3245 100644 --- a/core/src/solvers/joint_interpolation.cpp +++ b/core/src/solvers/joint_interpolation.cpp @@ -54,8 +54,8 @@ void JointInterpolationPlanner::init(const core::RobotModelConstPtr &robot_model { } -bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr from, - const planning_scene::PlanningSceneConstPtr to, +bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, + const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, @@ -99,7 +99,7 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr return true; } -bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr from, +bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel &link, const Eigen::Affine3d& target_eigen, const moveit::core::JointModelGroup *jmg, diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp index 684c634e..d1658764 100644 --- a/core/src/solvers/pipeline_planner.cpp +++ b/core/src/solvers/pipeline_planner.cpp @@ -82,8 +82,8 @@ void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req, req.workspace_parameters = p.get("workspace_parameters"); } -bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from, - const planning_scene::PlanningSceneConstPtr to, +bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, + const planning_scene::PlanningSceneConstPtr& to, const moveit::core::JointModelGroup *jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result, @@ -107,7 +107,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from, return true; } -bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from, +bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel &link, const Eigen::Affine3d& target_eigen, const moveit::core::JointModelGroup *jmg,