reduce copying of shared ptrs

This commit is contained in:
Robert Haschke 2018-10-19 20:52:04 +02:00
parent d648a4091e
commit 36fe4c98be
8 changed files with 23 additions and 22 deletions

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@ -59,14 +59,14 @@ public:
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr from, bool plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override; 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 moveit::core::LinkModel &link,
const Eigen::Affine3d& target, const Eigen::Affine3d& target,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,

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@ -55,14 +55,14 @@ public:
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr from, bool plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup *jmg, const core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override; 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 moveit::core::LinkModel &link,
const Eigen::Affine3d& target, const Eigen::Affine3d& target,
const core::JointModelGroup *jmg, const core::JointModelGroup *jmg,

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@ -58,14 +58,14 @@ public:
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
bool plan(const planning_scene::PlanningSceneConstPtr from, bool plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr& to,
const core::JointModelGroup *jmg, const core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints= moveit_msgs::Constraints()) override; 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 moveit::core::LinkModel &link,
const Eigen::Affine3d& target, const Eigen::Affine3d& target,
const core::JointModelGroup *jmg, const core::JointModelGroup *jmg,

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@ -75,15 +75,15 @@ public:
virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0; virtual void init(const moveit::core::RobotModelConstPtr& robot_model) = 0;
/// plan trajectory between to robot states /// plan trajectory between to robot states
virtual bool plan(const planning_scene::PlanningSceneConstPtr from, virtual bool plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0; const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) = 0;
/// plan trajectory from current robot state to Cartesian target /// 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 moveit::core::LinkModel &link,
const Eigen::Affine3d& target, const Eigen::Affine3d& target,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,

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@ -80,7 +80,8 @@ public:
~Task(); ~Task();
std::string id() const; 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 /// setting the robot model also resets the task
void setRobotModel(const moveit::core::RobotModelConstPtr& robot_model); void setRobotModel(const moveit::core::RobotModelConstPtr& robot_model);
/// load robot model from given parameter /// load robot model from given parameter

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@ -56,8 +56,8 @@ void CartesianPath::init(const core::RobotModelConstPtr &robot_model)
{ {
} }
bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from, bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
@ -74,7 +74,7 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr from,
jmg, timeout, result, path_constraints); 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 moveit::core::LinkModel &link,
const Eigen::Affine3d &target, const Eigen::Affine3d &target,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,

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@ -54,8 +54,8 @@ void JointInterpolationPlanner::init(const core::RobotModelConstPtr &robot_model
{ {
} }
bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr from, bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
@ -99,7 +99,7 @@ bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr
return true; return true;
} }
bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr from, bool JointInterpolationPlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const moveit::core::LinkModel &link, const moveit::core::LinkModel &link,
const Eigen::Affine3d& target_eigen, const Eigen::Affine3d& target_eigen,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,

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@ -82,8 +82,8 @@ void initMotionPlanRequest(moveit_msgs::MotionPlanRequest& req,
req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters"); req.workspace_parameters = p.get<moveit_msgs::WorkspaceParameters>("workspace_parameters");
} }
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from, bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const planning_scene::PlanningSceneConstPtr to, const planning_scene::PlanningSceneConstPtr& to,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,
double timeout, double timeout,
robot_trajectory::RobotTrajectoryPtr& result, robot_trajectory::RobotTrajectoryPtr& result,
@ -107,7 +107,7 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from,
return true; return true;
} }
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr from, bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
const moveit::core::LinkModel &link, const moveit::core::LinkModel &link,
const Eigen::Affine3d& target_eigen, const Eigen::Affine3d& target_eigen,
const moveit::core::JointModelGroup *jmg, const moveit::core::JointModelGroup *jmg,