{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/228390286","pull_request_review_id":168652865,"id":228390286,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIyODM5MDI4Ng==","diff_hunk":"@@ -0,0 +1,198 @@\n+/*********************************************************************\n+* Software License Agreement (BSD License)\n+*\n+*  Copyright (c) 2013, Ioan A. Sucan\n+*  Copyright (c) 2013, Willow Garage, Inc.\n+*  All rights reserved.\n+*\n+*  Redistribution and use in source and binary forms, with or without\n+*  modification, are permitted provided that the following conditions\n+*  are met:\n+*\n+*   * Redistributions of source code must retain the above copyright\n+*     notice, this list of conditions and the following disclaimer.\n+*   * Redistributions in binary form must reproduce the above\n+*     copyright notice, this list of conditions and the following\n+*     disclaimer in the documentation and/or other materials provided\n+*     with the distribution.\n+*   * Neither the name of Willow Garage, Inc. nor the names of its\n+*     contributors may be used to endorse or promote products derived\n+*     from this software without specific prior written permission.\n+*\n+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n+*  \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\n+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\n+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\n+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\n+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\n+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\n+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\n+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n+*  POSSIBILITY OF SUCH DAMAGE.\n+*********************************************************************/\n+\n+/* Author: Ioan Sucan, Mike Lautman */\n+\n+#ifndef MOVEIT_CORE_ROBOT_STATE_CARTESIAN_PLANNER_\n+#define MOVEIT_CORE_ROBOT_STATE_CARTESIAN_PLANNER_\n+\n+#include <moveit/robot_state/robot_state.h>\n+#include <moveit/robot_state/utils.h>\n+\n+#include <boost/assert.hpp>\n+\n+namespace moveit\n+{\n+namespace core\n+{\n+class CartesianPlanner\n+{\n+public:\n+  /** \\brief Compute the sequence of joint values that correspond to a straight Cartesian path for a particular group.\n+\n+     The Cartesian path to be followed is specified as a direction of motion (\\e direction, unit vector) for the origin\n+     The Cartesian path to be followed is specified as a direction of motion (\\e direction, unit vector) for the origin\n+     of a robot link (\\e link). The direction is assumed to be either in a global reference frame or in the local\n+     reference frame of the link. In the latter case (\\e global_reference_frame is false) the \\e direction is rotated\n+     accordingly. The link needs to move in a straight line, following the specified direction, for the desired \\e\n+     distance. The resulting joint values are stored in the vector \\e traj, one by one. The maximum distance in\n+     Cartesian space between consecutive points on the resulting path is specified in the \\e MaxEEFStep struct which\n+     provides two fields: translation and rotation. If a \\e validCallback is specified, this is passed to the internal\n+     call to setFromIK(). In case of IK failure, the computation of the path stops and the value returned corresponds to\n+     the distance that was computed and for which corresponding states were added to the path.  At the end of the\n+     function call, the state of the group corresponds to the last attempted Cartesian pose.\n+\n+     During the computation of the trajectory, it is usually preferred if consecutive joint values do not 'jump' by a\n+     large amount in joint space, even if the Cartesian distance between the corresponding points is small as expected.\n+     To account for this, the \\e jump_threshold struct is provided, which comprises three fields:\n+     \\e jump_threshold_factor, \\e revolute_jump_threshold and \\e prismatic_jump_threshold.\n+     If either \\e revolute_jump_threshold or \\e prismatic_jump_threshold  are non-zero, we test for absolute jumps.\n+     If \\e jump_threshold_factor is non-zero, we test for relative jumps. Otherwise (all params are zero), jump\n+     detection is disabled.\n+\n+     For relative jump detection, the average joint-space distance between consecutive points in the trajectory is\n+     computed. If any individual joint-space motion delta is larger then this average distance by a factor of\n+     \\e jump_threshold_factor, this step is considered a failure and the returned path is truncated up to just\n+     before the jump.\n+\n+     For absolute jump thresholds, if any individual joint-space motion delta is larger then \\e revolute_jump_threshold\n+     for revolute joints or \\e prismatic_jump_threshold for prismatic joints then this step is considered a failure and\n+     the returned path is truncated up to just before the jump.*/\n+  static double computeCartesianPath(\n+      RobotState* start_state, const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,\n+      const LinkModel* link, const Eigen::Vector3d& direction, bool global_reference_frame, double distance,\n+      const MaxEEFStep& max_step, const JumpThreshold& jump_threshold,\n+      const GroupStateValidityCallbackFn& validCallback = GroupStateValidityCallbackFn(),\n+      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());\n+\n+  static double computeCartesianPath(\n+      RobotState* start_state, const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,\n+      const LinkModel* link, const Eigen::Vector3d& direction, bool global_reference_frame, double distance,\n+      double max_step, double jump_threshold_factor,\n+      const GroupStateValidityCallbackFn& validCallback = GroupStateValidityCallbackFn(),\n+      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())\n+  {\n+    return computeCartesianPath(start_state, group, traj, link, direction, global_reference_frame, distance,\n+                                MaxEEFStep(max_step, max_step), JumpThreshold(jump_threshold_factor), validCallback,\n+                                options);\n+  }\n+\n+  /** \\brief Compute the sequence of joint values that correspond to a straight Cartesian path, for a particular group.\n+\n+     In contrast to the previous function, the Cartesian path is specified as a target frame to be reached (\\e target)\n+     for the origin of a robot link (\\e link). The target frame is assumed to be either in a global reference frame or\n+     in the local reference frame of the link. In the latter case (\\e global_reference_frame is false) the \\e target is\n+     rotated accordingly. All other comments from the previous function apply. */\n+  static double computeCartesianPath(\n+      RobotState* start_state, const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,\n+      const LinkModel* link, const Eigen::Affine3d& target, bool global_reference_frame, const MaxEEFStep& max_step,\n+      const JumpThreshold& jump_threshold,\n+      const GroupStateValidityCallbackFn& validCallback = GroupStateValidityCallbackFn(),\n+      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());\n+\n+  static double computeCartesianPath(\n+      RobotState* start_state, const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,\n+      const LinkModel* link, const Eigen::Affine3d& target, bool global_reference_frame, double max_step,\n+      double jump_threshold_factor, const GroupStateValidityCallbackFn& validCallback = GroupStateValidityCallbackFn(),\n+      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())\n+  {\n+    return computeCartesianPath(start_state, group, traj, link, target, global_reference_frame, MaxEEFStep(max_step),\n+                                JumpThreshold(jump_threshold_factor), validCallback, options);\n+  }\n+\n+  /** \\brief Compute the sequence of joint values that perform a general Cartesian path.\n+\n+     In contrast to the previous functions, the Cartesian path is specified as a set of \\e waypoints to be sequentially\n+     reached for the origin of a robot link (\\e link). The waypoints are transforms given either in a global reference\n+     frame or in the local reference frame of the link at the immediately preceeding waypoint. The link needs to move\n+     in a straight line between two consecutive waypoints. All other comments apply. */\n+  static double computeCartesianPath(\n+      RobotState* start_state, const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,\n+      const LinkModel* link, const EigenSTL::vector_Affine3d& waypoints, bool global_reference_frame,\n+      const MaxEEFStep& max_step, const JumpThreshold& jump_threshold,\n+      const GroupStateValidityCallbackFn& validCallback = GroupStateValidityCallbackFn(),\n+      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions());\n+\n+  static double computeCartesianPath(\n+      RobotState* start_state, const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,\n+      const LinkModel* link, const EigenSTL::vector_Affine3d& waypoints, bool global_reference_frame, double max_step,\n+      double jump_threshold_factor, const GroupStateValidityCallbackFn& validCallback = GroupStateValidityCallbackFn(),\n+      const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions())\n+  {\n+    return computeCartesianPath(start_state, group, traj, link, waypoints, global_reference_frame, MaxEEFStep(max_step),\n+                                JumpThreshold(jump_threshold_factor), validCallback, options);\n+  }\n+\n+  /** \\brief Tests joint space jumps of a trajectory.\n+\n+     If \\e jump_threshold_factor is non-zero, we test for relative jumps.\n+     If \\e revolute_jump_threshold  or \\e prismatic_jump_threshold are non-zero, we test for absolute jumps.\n+     Both tests can be combined. If all params are zero, jump detection is disabled.\n+     For relative jump detection, the average joint-space distance between consecutive points in the trajectory is\n+     computed. If any individual joint-space motion delta is larger then this average distance by a factor of\n+     \\e jump_threshold_factor, this step is considered a failure and the returned path is truncated up to just\n+     before the jump.\n+\n+     @param group The joint model group of the robot state.\n+     @param traj The trajectory that should be tested.\n+     @param jump_threshold The struct holding jump thresholds to determine if a joint space jump has occurred.\n+     @return The fraction of the trajectory that passed.\n+  */\n+  static double testJointSpaceJump(const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,\n+                                   const JumpThreshold& jump_threshold);","path":"moveit_core/robot_state/include/moveit/robot_state/cartesian_planner.h","position":164,"original_position":164,"commit_id":"880e27d705b10bb946f6c57c255829e312ffe196","original_commit_id":"880e27d705b10bb946f6c57c255829e312ffe196","user":{"login":"davetcoleman","id":561060,"node_id":"MDQ6VXNlcjU2MTA2MA==","avatar_url":"https://avatars2.githubusercontent.com/u/561060?v=4","gravatar_id":"","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"body":"i'd prefer ``checkJointSpaceJump``, the word ``test`` has a distinct meaning in software. same for all other test functions here","created_at":"2018-10-26T02:31:22Z","updated_at":"2018-10-26T02:55:04Z","html_url":"https://github.com/ros-planning/moveit/pull/1149#discussion_r228390286","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/1149","author_association":"MEMBER","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/228390286"},"html":{"href":"https://github.com/ros-planning/moveit/pull/1149#discussion_r228390286"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/1149"}}},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/1149","id":225944014,"node_id":"MDExOlB1bGxSZXF1ZXN0MjI1OTQ0MDE0","html_url":"https://github.com/ros-planning/moveit/pull/1149","diff_url":"https://github.com/ros-planning/moveit/pull/1149.diff","patch_url":"https://github.com/ros-planning/moveit/pull/1149.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/1149","number":1149,"state":"open","locked":false,"title":"separating the cartesian planner","user":{"login":"mlautman","id":3253549,"node_id":"MDQ6VXNlcjMyNTM1NDk=","avatar_url":"https://avatars3.githubusercontent.com/u/3253549?v=4","gravatar_id":"","url":"https://api.github.com/users/mlautman","html_url":"https://github.com/mlautman","followers_url":"https://api.github.com/users/mlautman/followers","following_url":"https://api.github.com/users/mlautman/following{/other_user}","gists_url":"https://api.github.com/users/mlautman/gists{/gist_id}","starred_url":"https://api.github.com/users/mlautman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mlautman/subscriptions","organizations_url":"https://api.github.com/users/mlautman/orgs","repos_url":"https://api.github.com/users/mlautman/repos","events_url":"https://api.github.com/users/mlautman/events{/privacy}","received_events_url":"https://api.github.com/users/mlautman/received_events","type":"User","site_admin":false},"body":"### Description\r\n\r\nThis moves the Cartesian planner out of the robot_state class and into it's own class\r\n\r\n### Checklist\r\n- [x] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)\r\n- [ ] Document API changes relevant to the user in the moveit/MIGRATION.md notes\r\n- [x] Created tests, which fail without this PR [reference](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/tests.html)\r\n- [x] Decide if this should be cherry-picked to other current ROS branches\r\n\r\n[//]: # \"You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!\"\r\n","created_at":"2018-10-26T00:31:52Z","updated_at":"2018-10-26T02:55:04Z","closed_at":null,"merged_at":null,"merge_commit_sha":"3c60fff37c40d7c96c4f4cc34dae30060166a541","assignee":null,"assignees":[],"requested_reviewers":[{"login":"rhaschke","id":5376030,"node_id":"MDQ6VXNlcjUzNzYwMzA=","avatar_url":"https://avatars2.githubusercontent.com/u/5376030?v=4","gravatar_id":"","url":"https://api.github.com/users/rhaschke","html_url":"https://github.com/rhaschke","followers_url":"https://api.github.com/users/rhaschke/followers","following_url":"https://api.github.com/users/rhaschke/following{/other_user}","gists_url":"https://api.github.com/users/rhaschke/gists{/gist_id}","starred_url":"https://api.github.com/users/rhaschke/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rhaschke/subscriptions","organizations_url":"https://api.github.com/users/rhaschke/orgs","repos_url":"https://api.github.com/users/rhaschke/repos","events_url":"https://api.github.com/users/rhaschke/events{/privacy}","received_events_url":"https://api.github.com/users/rhaschke/received_events","type":"User","site_admin":false}],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/ros-planning/moveit/pulls/1149/commits","review_comments_url":"https://api.github.com/repos/ros-planning/moveit/pulls/1149/comments","review_comment_url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-planning/moveit/issues/1149/comments","statuses_url":"https://api.github.com/repos/ros-planning/moveit/statuses/880e27d705b10bb946f6c57c255829e312ffe196","head":{"label":"PickNikRobotics:separate-cartesian","ref":"separate-cartesian","sha":"880e27d705b10bb946f6c57c255829e312ffe196","user":{"login":"PickNikRobotics","id":15351303,"node_id":"MDEyOk9yZ2FuaXphdGlvbjE1MzUxMzAz","avatar_url":"https://avatars2.githubusercontent.com/u/15351303?v=4","gravatar_id":"","url":"https://api.github.com/users/PickNikRobotics","html_url":"https://github.com/PickNikRobotics","followers_url":"https://api.github.com/users/PickNikRobotics/followers","following_url":"https://api.github.com/users/PickNikRobotics/following{/other_user}","gists_url":"https://api.github.com/users/PickNikRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/PickNikRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PickNikRobotics/subscriptions","organizations_url":"https://api.github.com/users/PickNikRobotics/orgs","repos_url":"https://api.github.com/users/PickNikRobotics/repos","events_url":"https://api.github.com/users/PickNikRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/PickNikRobotics/received_events","type":"Organization","site_admin":false},"repo":{"id":113098311,"node_id":"MDEwOlJlcG9zaXRvcnkxMTMwOTgzMTE=","name":"moveit","full_name":"PickNikRobotics/moveit","private":false,"owner":{"login":"PickNikRobotics","id":15351303,"node_id":"MDEyOk9yZ2FuaXphdGlvbjE1MzUxMzAz","avatar_url":"https://avatars2.githubusercontent.com/u/15351303?v=4","gravatar_id":"","url":"https://api.github.com/users/PickNikRobotics","html_url":"https://github.com/PickNikRobotics","followers_url":"https://api.github.com/users/PickNikRobotics/followers","following_url":"https://api.github.com/users/PickNikRobotics/following{/other_user}","gists_url":"https://api.github.com/users/PickNikRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/PickNikRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PickNikRobotics/subscriptions","organizations_url":"https://api.github.com/users/PickNikRobotics/orgs","repos_url":"https://api.github.com/users/PickNikRobotics/repos","events_url":"https://api.github.com/users/PickNikRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/PickNikRobotics/received_events","type":"Organization","site_admin":false},"html_url":"https://github.com/PickNikRobotics/moveit","description":"The 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