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Updates related to profiles #257

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merged 1 commit into from
Dec 7, 2024
Merged

Updates related to profiles #257

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56 changes: 24 additions & 32 deletions tesseract_planning_server/src/tesseract_planning_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -163,53 +163,45 @@ struct TesseractPlanningServer::Implementation
void loadDefaultPlannerProfiles()
{
// Add Simple Default Profiles
profiles->addProfile<tesseract_planning::SimplePlannerPlanProfile>(
SIMPLE_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::SimplePlannerLVSNoIKPlanProfile>());
profiles->addProfile(SIMPLE_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::SimplePlannerLVSNoIKPlanProfile>());

// Add TrajOpt Default Profiles
#ifdef TESSERACT_PLANNING_SERVER_HAS_TRAJOPT
profiles->addProfile<tesseract_planning::TrajOptPlanProfile>(
TRAJOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptDefaultPlanProfile>());
profiles->addProfile<tesseract_planning::TrajOptCompositeProfile>(
TRAJOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptDefaultCompositeProfile>());
profiles->addProfile<tesseract_planning::TrajOptSolverProfile>(
TRAJOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptDefaultSolverProfile>());
profiles->addProfile(TRAJOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptDefaultPlanProfile>());
profiles->addProfile(TRAJOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptDefaultCompositeProfile>());
profiles->addProfile(TRAJOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptDefaultSolverProfile>());
#endif

// Add TrajOpt IFOPT Default Profiles
#ifdef TESSERACT_PLANNING_SERVER_HAS_TRAJOPT_IFOPT
profiles->addProfile<tesseract_planning::TrajOptIfoptPlanProfile>(
TRAJOPT_IFOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptIfoptDefaultPlanProfile>());
profiles->addProfile<tesseract_planning::TrajOptIfoptCompositeProfile>(
TRAJOPT_IFOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptIfoptDefaultCompositeProfile>());
profiles->addProfile(TRAJOPT_IFOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptIfoptDefaultPlanProfile>());
profiles->addProfile(TRAJOPT_IFOPT_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::TrajOptIfoptDefaultCompositeProfile>());
#endif

// Add Descartes Default Profiles
#ifdef TESSERACT_PLANNING_SERVER_HAS_DESCARTES
profiles->addProfile<tesseract_planning::DescartesPlanProfile<double>>(
DESCARTES_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::DescartesDefaultPlanProfile<double>>());
profiles->addProfile(DESCARTES_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::DescartesDefaultPlanProfile<double>>());
#endif

// Add OMPL Default Profiles
#ifdef TESSERACT_PLANNING_SERVER_HAS_OMPL
profiles->addProfile<tesseract_planning::OMPLPlanProfile>(
OMPL_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::OMPLDefaultPlanProfile>());
profiles->addProfile(OMPL_DEFAULT_NAMESPACE,
tesseract_planning::DEFAULT_PROFILE_KEY,
std::make_shared<tesseract_planning::OMPLDefaultPlanProfile>());
#endif
}

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