Make changes to better support python wrapping

Author: Levi Armstrong

tesseract/tesseract_planning/tesseract_command_language/CMakeLists.txt

@@ -40,6 +40,7 @@ add_library(${PROJECT_NAME}
   src/null_waypoint.cpp
   src/state_waypoint.cpp
   src/utils/flatten_utils.cpp
+  src/utils/filter_functions.cpp
   src/utils/get_instruction_utils.cpp
   src/utils/utils.cpp)
 target_link_libraries(${PROJECT_NAME} PUBLIC console_bridge::console_bridge tesseract::tesseract_common ${Boost_LIBRARIES})

tesseract/tesseract_planning/tesseract_command_language/include/tesseract_command_language/utils/filter_functions.h

@@ -26,8 +26,6 @@
 #ifndef TESSERACT_COMMAND_LANGUAGE_UTILS_FILTER_FUNCTIONS_H
 #define TESSERACT_COMMAND_LANGUAGE_UTILS_FILTER_FUNCTIONS_H
 
-#include <tesseract_command_language/plan_instruction.h>
-#include <tesseract_command_language/move_instruction.h>
 #include <tesseract_command_language/composite_instruction.h>
 
 namespace tesseract_planning
@@ -45,29 +43,9 @@ using flattenFilterFn =
 using locateFilterFn =
     std::function<bool(const Instruction&, const CompositeInstruction&, bool parent_is_first_composite)>;
 
-static locateFilterFn moveFilter =
-    [](const Instruction& i, const CompositeInstruction& /*composite*/, bool parent_is_first_composite) {
-      if (isMoveInstruction(i))
-      {
-        if (i.cast_const<MoveInstruction>()->isStart())
-          return (parent_is_first_composite);
+bool moveFilter(const Instruction& instruction, const CompositeInstruction& composite, bool parent_is_first_composite);
 
-        return true;
-      }
-      return false;
-    };
-
-static locateFilterFn planFilter =
-    [](const Instruction& i, const CompositeInstruction& /*composite*/, bool parent_is_first_composite) {
-      if (isPlanInstruction(i))
-      {
-        if (i.cast_const<PlanInstruction>()->isStart())
-          return (parent_is_first_composite);
-
-        return true;
-      }
-      return false;
-    };
+bool planFilter(const Instruction& instruction, const CompositeInstruction& composite, bool parent_is_first_composite);
 
 }  // namespace tesseract_planning
 

tesseract/tesseract_planning/tesseract_command_language/src/utils/filter_functions.cpp

@@ -0,0 +1,60 @@
+/**
+ * @file filter_functions.cpp
+ * @brief Contains filter functions used for flattening and locating instructions in composites
+ *
+ * @author Levi Armstrong
+ * @date June 15, 2020
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2020, Southwest Research Institute
+ *
+ * @par License
+ * Software License Agreement (Apache License)
+ * @par
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * @par
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <tesseract_command_language/plan_instruction.h>
+#include <tesseract_command_language/move_instruction.h>
+#include <tesseract_command_language/utils/filter_functions.h>
+
+namespace tesseract_planning
+{
+bool moveFilter(const Instruction& instruction,
+                const CompositeInstruction& /*composite*/,
+                bool parent_is_first_composite)
+{
+  if (isMoveInstruction(instruction))
+  {
+    if (instruction.cast_const<MoveInstruction>()->isStart())
+      return (parent_is_first_composite);
+
+    return true;
+  }
+  return false;
+}
+
+bool planFilter(const Instruction& instruction,
+                const CompositeInstruction& /*composite*/,
+                bool parent_is_first_composite)
+{
+  if (isPlanInstruction(instruction))
+  {
+    if (instruction.cast_const<PlanInstruction>()->isStart())
+      return (parent_is_first_composite);
+
+    return true;
+  }
+  return false;
+}
+}  // namespace tesseract_planning

tesseract/tesseract_planning/tesseract_motion_planners/CMakeLists.txt

@@ -59,9 +59,10 @@ add_library(${PROJECT_NAME}_descartes
   src/descartes/descartes_collision_edge_evaluator.cpp
   src/descartes/descartes_robot_sampler.cpp
   src/descartes/descartes_motion_planner_status_category.cpp
-  src/descartes/profile/descartes_default_plan_profile.cpp
   src/descartes/serialize.cpp
-  src/descartes/deserialize.cpp)
+  src/descartes/deserialize.cpp
+  src/descartes/descartes_utils.cpp
+  src/descartes/profile/descartes_default_plan_profile.cpp)
 target_link_libraries(${PROJECT_NAME}_descartes PUBLIC ${PROJECT_NAME}_core descartes::descartes_light descartes::descartes_samplers ${Boost_LIBRARIES})
 target_compile_options(${PROJECT_NAME}_descartes PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(${PROJECT_NAME}_descartes PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})