Fuzzy-matching Trajectory Cache Injectable Traits refactor 🔥🔥

.codespell_words

@@ -1,6 +1,7 @@
 aas
 ang
 ans
+AppendT
 atleast
 ba
 brin

moveit_ros/trajectory_cache/CHANGELOG.rst

@@ -4,7 +4,8 @@ Changelog for package moveit_ros_trajectory_cache
 
 2.11.0 (2024-09-16)
 -------------------
+* Refactor `moveit_ros/trajectory_cache` package to allow feature extraction and cache insert policy injection
 
 0.1.0 (2024-05-17)
 ------------------
-* Add ``moveit_ros_trajectory_cache`` package for trajectory caching.
+* Add ``moveit_ros/trajectory_cache`` package for trajectory caching.

moveit_ros/trajectory_cache/CMakeLists.txt

@@ -28,9 +28,62 @@ set(TRAJECTORY_CACHE_DEPENDENCIES
     trajectory_msgs
     warehouse_ros)
 
+set(TRAJECTORY_CACHE_LIBRARIES
+    moveit_ros_trajectory_cache_utils_lib
+    moveit_ros_trajectory_cache_features_lib
+    moveit_ros_trajectory_cache_cache_insert_policies_lib
+    moveit_ros_trajectory_cache_lib)
+
+# Utils library
+add_library(moveit_ros_trajectory_cache_utils_lib SHARED src/utils/utils.cpp)
+generate_export_header(moveit_ros_trajectory_cache_utils_lib)
+target_include_directories(
+  moveit_ros_trajectory_cache_utils_lib
+  PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:include/moveit_ros_trajectory_cache>)
+ament_target_dependencies(moveit_ros_trajectory_cache_utils_lib
+                          ${TRAJECTORY_CACHE_DEPENDENCIES})
+
+# Features library
+add_library(
+  moveit_ros_trajectory_cache_features_lib SHARED
+  src/features/motion_plan_request_features.cpp
+  src/features/get_cartesian_path_request_features.cpp)
+generate_export_header(moveit_ros_trajectory_cache_features_lib)
+target_link_libraries(moveit_ros_trajectory_cache_features_lib
+                      moveit_ros_trajectory_cache_utils_lib)
+target_include_directories(
+  moveit_ros_trajectory_cache_features_lib
+  PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:include/moveit_ros_trajectory_cache>)
+ament_target_dependencies(moveit_ros_trajectory_cache_features_lib
+                          ${TRAJECTORY_CACHE_DEPENDENCIES})
+
+# Cache insert policies library
+add_library(
+  moveit_ros_trajectory_cache_cache_insert_policies_lib SHARED
+  src/cache_insert_policies/always_insert_never_prune_policy.cpp
+  src/cache_insert_policies/best_seen_execution_time_policy.cpp)
+generate_export_header(moveit_ros_trajectory_cache_cache_insert_policies_lib)
+target_link_libraries(
+  moveit_ros_trajectory_cache_cache_insert_policies_lib
+  moveit_ros_trajectory_cache_features_lib
+  moveit_ros_trajectory_cache_utils_lib)
+target_include_directories(
+  moveit_ros_trajectory_cache_cache_insert_policies_lib
+  PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:include/moveit_ros_trajectory_cache>)
+ament_target_dependencies(moveit_ros_trajectory_cache_cache_insert_policies_lib
+                          ${TRAJECTORY_CACHE_DEPENDENCIES})
+
 # Trajectory cache library
 add_library(moveit_ros_trajectory_cache_lib SHARED src/trajectory_cache.cpp)
 generate_export_header(moveit_ros_trajectory_cache_lib)
+target_link_libraries(
+  moveit_ros_trajectory_cache_lib
+  moveit_ros_trajectory_cache_cache_insert_policies_lib
+  moveit_ros_trajectory_cache_features_lib
+  moveit_ros_trajectory_cache_utils_lib)
 target_include_directories(
   moveit_ros_trajectory_cache_lib
   PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
@@ -39,7 +92,7 @@ ament_target_dependencies(moveit_ros_trajectory_cache_lib
                           ${TRAJECTORY_CACHE_DEPENDENCIES})
 
 install(
-  TARGETS moveit_ros_trajectory_cache_lib
+  TARGETS ${TRAJECTORY_CACHE_LIBRARIES}
   EXPORT moveit_ros_trajectory_cacheTargets
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
@@ -48,29 +101,14 @@ install(
   DESTINATION include/moveit_ros_trajectory_cache)
 
 install(DIRECTORY include/ DESTINATION include/moveit_ros_trajectory_cache)
-install(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_ros_trajectory_cache_lib_export.h
-  DESTINATION include/moveit_ros_trajectory_cache)
-
-if(BUILD_TESTING)
-  find_package(ament_cmake_pytest REQUIRED)
-  find_package(launch_testing_ament_cmake REQUIRED)
-  find_package(rmf_utils REQUIRED)
-  find_package(warehouse_ros_sqlite REQUIRED)
-
-  # This test executable is run by the pytest_test, since a node is required for
-  # testing move groups
-  add_executable(test_trajectory_cache test/test_trajectory_cache.cpp)
-  target_link_libraries(test_trajectory_cache moveit_ros_trajectory_cache_lib)
-  ament_target_dependencies(test_trajectory_cache warehouse_ros_sqlite)
-
-  install(TARGETS test_trajectory_cache RUNTIME DESTINATION lib/${PROJECT_NAME})
 
-  ament_add_pytest_test(
-    test_trajectory_cache_py "test/test_trajectory_cache.py" WORKING_DIRECTORY
-    "${CMAKE_CURRENT_BINARY_DIR}")
+# Install export headers for each library
+foreach(lib_target ${TRAJECTORY_CACHE_LIBRARIES})
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${lib_target}_export.h
+          DESTINATION include/moveit_ros_trajectory_cache)
+endforeach()
 
-endif()
+add_subdirectory(test)
 
 ament_export_targets(moveit_ros_trajectory_cacheTargets HAS_LIBRARY_TARGET)
 ament_export_dependencies(${TRAJECTORY_CACHE_DEPENDENCIES})