- can now be used to estimate cost for either interface state or the trajectory
- Introduced Interface::Direction NONE as a way of pointing to the trajectory in contrast to START or END
The previous implementation depends on the dynamics limits of the robot,
which might be interesting in some cases, but shouldn't be a default anywhere.
CostTerms only apply to primitive solutions and generalizing them
to Containers would make them quite unintuitive (and adds overhead).
Instead CostTransform can be used in any container to scale, crop, square
the cost of the solutions.
I initially thought about adding scaling factors, but then again,
other transforms are of interest just as well.
My previous patches accidentally disabled *all* (3) reset messages,
instead of keeping exactly one. This patch sends exactly one empty description
(reset) message every time an introspection instance is constructed for a task.
Notice the additional increase of the description queue_size from 1 to 2 to avoid
directly dropping the reset message in favor of the new description likely to be send
shortly afterwards.
Otherwise a new task will always setup the publisher,
even if introspection is disabled afterwards.
It is a good idea to keep introspection on, but there should be a way to initialize the C++ classes without ROS communication.
So far, the start_scene field of a SolutionMsg was only filled by Introspection::fillSolution(),
but not yet by Task::execute().
Addendum(v4hn): The previous approach was actually reasonable too (although the scene should have been marked as `is_diff`) for solutions sent for execution, but keeping the full start_scene around can facilitate debugging from recorded data.
Probably the most invasive format patch, also changing some internal API.
I deliberately disabled ClassCase and MethodCase checks for the moment
to avoid public API changes in this patch set.