Various fixes/enhancements: 1. Base planners no longer add non-PlanningMethod functions as attributes to robot, 2. Removed double call to SimplifyTrajectory in retimer.py, 3. Changed default smoother to HauserParabolicSmoother, 4. Changed default simplifier to None

Author: jeking04

src/prpy/base/robot.py

@@ -35,7 +35,7 @@
 from ..tsr.tsrlibrary import TSRLibrary
 from ..planning.base import Sequence 
 from ..planning.ompl import OMPLSimplifier
-from ..planning.retimer import ParabolicRetimer, ParabolicSmoother
+from ..planning.retimer import HauserParabolicSmoother, ParabolicRetimer
 from ..planning.mac_smoother import MacSmoother
 
 logger = logging.getLogger('robot')
@@ -67,10 +67,10 @@ def __init__(self, robot_name=None):
         # Path post-processing for execution. This includes simplification of
         # the geometric path, retiming a path into a trajectory, and smoothing
         # (joint simplificaiton and retiming).
-        self.simplifier = OMPLSimplifier()
+        self.simplifier = None
         self.retimer = ParabolicRetimer()
         self.smoother = Sequence(
-            ParabolicSmoother(),
+            HauserParabolicSmoother(),
             self.retimer
         )
 

src/prpy/planning/base.py

@@ -183,7 +183,7 @@ def meta_wrapper(*args, **kw_args):
         meta_wrapper.__name__ = method_name
         docstrings = list()
         for planner in self.get_planners_recursive(method_name):
-            if hasattr(planner, method_name):
+            if planner.has_planning_method(method_name):
                 planner_method = getattr(planner, method_name)
                 docstrings.append((planner, planner_method))
 
@@ -225,7 +225,7 @@ def __str__(self):
 
     def get_planners(self, method_name):
         return [planner for planner in self._planners
-                if hasattr(planner, method_name)]
+                if planner.has_planning_method(method_name)]
 
     def plan(self, method, args, kw_args):
         from ..util import Timer
@@ -234,7 +234,7 @@ def plan(self, method, args, kw_args):
 
         for planner in self._planners:
             try:
-                if hasattr(planner, method):
+                if planner.has_planning_method(method):
                     logger.info('Sequence - Calling planner "%s".', str(planner))
                     planner_method = getattr(planner, method)
                     kw_args['defer'] = False
@@ -268,7 +268,7 @@ def __str__(self):
 
     def get_planners(self, method_name):
         return [planner for planner in self._planners
-                if hasattr(planner, method_name)]
+                if planner.has_planning_method(method_name)]
 
     def plan(self, method, args, kw_args):
         all_planners = self._planners
@@ -277,7 +277,7 @@ def plan(self, method, args, kw_args):
 
         # Find only planners that support the required planning method.
         for index, planner in enumerate(all_planners):
-            if not hasattr(planner, method):
+            if not planner.has_planning_method(method):
                 results[index] = PlanningError(
                     "{:s} does not implement method {:s}."
                     .format(planner, method)
@@ -337,7 +337,7 @@ def __str__(self):
 
     def get_planners(self, method_name):
         return [planner for planner in self._planners
-                if hasattr(planner, method_name)]
+                if planner.has_planning_method(method_name)]
 
     def plan(self, method, args, kw_args):
         for planner in self._planners:

src/prpy/planning/retimer.py

@@ -101,14 +101,15 @@ def RetimeTrajectory(self, robot, path, options=None, **kw_args):
         robot.SetActiveDOFs(dof_indices)
 
         # Compute the timing. This happens in-place.
-        output_traj = SimplifyTrajectory(input_path, robot)
         self.planner.InitPlan(None, params_str)
 
 
         with CollisionOptionsStateSaver(self.env.GetCollisionChecker(),
                                         CollisionOptions.ActiveDOFs):
+            logging.info('Retiming with %s' % self.algorithm)
+            logging.info('Retiming trajectory with %d waypoints' % output_traj.GetNumWaypoints())
             status = self.planner.PlanPath(output_traj, releasegil=True)
-
+            
         if status not in [ PlannerStatus.HasSolution,
                            PlannerStatus.InterruptedWithSolution ]:
             raise PlanningError(