diff --git a/tesseract_task_composer/README.rst b/tesseract_task_composer/README.rst index 540c8eef7f..11a513958e 100644 --- a/tesseract_task_composer/README.rst +++ b/tesseract_task_composer/README.rst @@ -61,7 +61,6 @@ This file allows you define Excutors and Tasks (aka Nodes). program: input_data environment: environment profiles: profiles - composite_profile_remapping: composite_profile_remapping outputs: program: output_data DescartesMotionPlannerTask: @@ -72,9 +71,6 @@ This file allows you define Excutors and Tasks (aka Nodes). program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -86,8 +82,6 @@ This file allows you define Excutors and Tasks (aka Nodes). program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -96,9 +90,6 @@ This file allows you define Excutors and Tasks (aka Nodes). program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data edges: @@ -183,7 +174,6 @@ Define the graph nodes and edges as shown in the config below. program: input_data environment: environment profiles: profiles - composite_profile_remapping: composite_profile_remapping outputs: program: output_data DescartesMotionPlannerTask: @@ -194,9 +184,6 @@ Define the graph nodes and edges as shown in the config below. program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: true @@ -208,9 +195,6 @@ Define the graph nodes and edges as shown in the config below. program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -222,8 +206,6 @@ Define the graph nodes and edges as shown in the config below. program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -232,9 +214,6 @@ Define the graph nodes and edges as shown in the config below. program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data edges: @@ -277,7 +256,6 @@ Also you can indicate that it should abort if a terminal is reached by specifyin program: input_data environment: environment profiles: profiles - composite_profile_remapping: composite_profile_remapping outputs: program: output_data CartesianTask: @@ -340,7 +318,6 @@ Here is an example where the namespace field is used to reuse a contact check co program: input_data environment: environment profiles: profiles - composite_profile_remapping: composite_profile_remapping outputs: program: output_data TrajOptMotionPlannerTask: @@ -351,9 +328,6 @@ Here is an example where the namespace field is used to reuse a contact check co program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -366,8 +340,6 @@ Here is an example where the namespace field is used to reuse a contact check co program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping OMPLMotionPlannerTask: class: OMPLMotionPlannerTaskFactory config: @@ -384,8 +356,6 @@ Here is an example where the namespace field is used to reuse a contact check co program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -394,9 +364,6 @@ Here is an example where the namespace field is used to reuse a contact check co program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data edges: @@ -432,9 +399,6 @@ Task for running Descartes motion planner program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -453,9 +417,6 @@ Task for running Descartes motion planner program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -476,9 +437,6 @@ Task for running OMPL motion planner program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -499,9 +457,6 @@ Task for running TrajOpt motion planner program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -522,9 +477,6 @@ Task for running TrajOpt Ifopt motion planner program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: false @@ -545,9 +497,6 @@ Task for running Simple motion planner program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data format_result_as_input: true @@ -568,9 +517,6 @@ Perform iterative spline time parameterization program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data add_points: true # optional @@ -591,9 +537,6 @@ Perform time optimal time parameterization program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data @@ -613,9 +556,6 @@ Perform trajectory smoothing leveraging Ruckig. Time parameterization must be ra program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping - move_profile_remapping: move_profile_remapping outputs: program: output_data @@ -631,7 +571,6 @@ Raster Motion Task inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -665,7 +604,6 @@ Raster Only Motion Task inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -698,8 +636,6 @@ Continuous collision check trajectory task program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping Discrete Contact Check Task ^^^^^^^^^^^^^^^^^^^^^^^^^^^ @@ -717,8 +653,6 @@ Discrete collision check trajectory task program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping Done Task ^^^^^^^^^ @@ -788,8 +722,6 @@ This task modifies the input instructions in order to push waypoints that are ou program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping outputs: program: output_data @@ -812,8 +744,6 @@ This task modifies the input instructions in order to push waypoints that are in program: output_data environment: environment profiles: profiles - manip_info: manip_info - composite_profile_remapping: composite_profile_remapping outputs: program: output_data @@ -833,7 +763,6 @@ Task for processing the input data so it meets a minimum length. Planners like t program: input_data environment: environment profiles: profiles - composite_profile_remapping: composite_profile_remapping outputs: program: output_data @@ -852,7 +781,6 @@ This task simply returns a value specified in the composite profile. This can be inputs: program: input_data profiles: profiles - composite_profile_remapping: composite_profile_remapping Upsample Trajectory Task ^^^^^^^^^^^^^^^^^^^^^^^^ @@ -872,7 +800,6 @@ This is used to upsample the results trajectory based on the longest valid segme inputs: program: input_data profiles: profiles - composite_profile_remapping: composite_profile_remapping outputs: program: output_data diff --git a/tesseract_task_composer/config/task_composer_plugins.yaml b/tesseract_task_composer/config/task_composer_plugins.yaml index 40393ff49b..1b1cbe9b6b 100644 --- a/tesseract_task_composer/config/task_composer_plugins.yaml +++ b/tesseract_task_composer/config/task_composer_plugins.yaml @@ -49,7 +49,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -61,7 +60,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -70,7 +68,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -155,7 +152,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -167,7 +163,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -176,7 +171,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -261,7 +255,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -273,7 +266,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -356,7 +348,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -368,7 +359,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -451,7 +441,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -463,7 +452,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -472,7 +460,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -557,7 +544,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -569,7 +555,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -578,7 +563,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -663,7 +647,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -675,7 +658,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -684,7 +666,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -769,7 +750,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -781,7 +761,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -793,7 +772,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -802,7 +780,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -889,7 +866,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -901,7 +877,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -913,7 +888,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -922,7 +896,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -1009,7 +982,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1021,7 +993,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -1033,7 +1004,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -1042,7 +1012,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -1119,7 +1088,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1130,7 +1098,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1222,7 +1189,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1233,7 +1199,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1325,7 +1290,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1336,7 +1300,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -1421,7 +1384,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1432,7 +1394,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -1517,7 +1478,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1529,7 +1489,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1540,7 +1499,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1634,7 +1592,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1646,7 +1603,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1657,7 +1613,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1751,7 +1706,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1763,7 +1717,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1774,7 +1727,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -1861,7 +1813,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1873,7 +1824,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1884,7 +1834,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: diff --git a/tesseract_task_composer/config/task_composer_plugins_no_trajopt_ifopt.yaml b/tesseract_task_composer/config/task_composer_plugins_no_trajopt_ifopt.yaml index 0222349682..48338561b0 100644 --- a/tesseract_task_composer/config/task_composer_plugins_no_trajopt_ifopt.yaml +++ b/tesseract_task_composer/config/task_composer_plugins_no_trajopt_ifopt.yaml @@ -49,7 +49,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -61,7 +60,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -70,7 +68,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -155,7 +152,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -167,7 +163,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -176,7 +171,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -261,7 +255,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -273,7 +266,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -356,7 +348,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -368,7 +359,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -451,7 +441,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -463,7 +452,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -472,7 +460,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -557,7 +544,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -569,7 +555,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -578,7 +563,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -663,7 +647,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -675,7 +658,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -687,7 +669,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -696,7 +677,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -783,7 +763,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -795,7 +774,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -807,7 +785,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -816,7 +793,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -903,7 +879,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -915,7 +890,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false @@ -927,7 +901,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info IterativeSplineParameterizationTask: class: IterativeSplineParameterizationTaskFactory config: @@ -936,7 +909,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data edges: @@ -1013,7 +985,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1024,7 +995,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1116,7 +1086,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1127,7 +1096,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1219,7 +1187,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1230,7 +1197,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -1315,7 +1281,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1326,7 +1291,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -1411,7 +1375,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1423,7 +1386,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1434,7 +1396,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1528,7 +1489,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1540,7 +1500,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1551,7 +1510,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -1645,7 +1603,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1657,7 +1614,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1668,7 +1624,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -1755,7 +1710,6 @@ task_composer_plugins: program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1767,7 +1721,6 @@ task_composer_plugins: program: output_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: true @@ -1778,7 +1731,6 @@ task_composer_plugins: inputs: program: output_data environment: environment - manip_info: manip_info outputs: program: output_data raster: diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h index 4d36ecd712..b449cf852f 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h @@ -51,7 +51,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ContinuousContactCheckTask : static const std::string INPUT_PROFILES_PORT; // Optional - static const std::string INPUT_MANIP_INFO_PORT; static const std::string OUTPUT_CONTACT_RESULTS_PORT; using Ptr = std::shared_ptr; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h index d54ab165a4..6d80db0626 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h @@ -51,7 +51,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT DiscreteContactCheckTask : p static const std::string INPUT_PROFILES_PORT; // Optional - static const std::string INPUT_MANIP_INFO_PORT; static const std::string OUTPUT_CONTACT_RESULTS_PORT; using Ptr = std::shared_ptr; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h index 5653d197ef..dbe928af23 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h @@ -51,9 +51,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateBoundsTask : public static const std::string INPUT_ENVIRONMENT_PORT; static const std::string INPUT_PROFILES_PORT; - // Optional - static const std::string INPUT_MANIP_INFO_PORT; - using Ptr = std::shared_ptr; using ConstPtr = std::shared_ptr; using UPtr = std::unique_ptr; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h index 62b295f8d1..5dadabc6ee 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h @@ -60,7 +60,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateCollisionTask : publ static const std::string INPUT_PROFILES_PORT; // Optional - static const std::string INPUT_MANIP_INFO_PORT; static const std::string OUTPUT_CONTACT_RESULTS_PORT; using Ptr = std::shared_ptr; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h index 34ecc3ece8..92713309fe 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h @@ -48,9 +48,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT IterativeSplineParameterizat static const std::string INPUT_ENVIRONMENT_PORT; static const std::string INPUT_PROFILES_PORT; - // Optional - static const std::string INPUT_MANIP_INFO_PORT; - using Ptr = std::shared_ptr; using ConstPtr = std::shared_ptr; using UPtr = std::unique_ptr; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp index a1ce3d2deb..c0c0c0aa7d 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp @@ -56,9 +56,6 @@ class MotionPlannerTask : public TaskComposerTask static const std::string INPUT_ENVIRONMENT_PORT; static const std::string INPUT_PROFILES_PORT; - // Optional - static const std::string INPUT_MANIP_INFO_PORT; - MotionPlannerTask() : TaskComposerTask("MotionPlannerTask", MotionPlannerTask::ports(), true) {} explicit MotionPlannerTask(std::string name, // NOLINT(performance-unnecessary-value-param) std::string input_program_key, @@ -127,8 +124,6 @@ class MotionPlannerTask : public TaskComposerTask ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; - ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; return ports; } @@ -167,16 +162,10 @@ class MotionPlannerTask : public TaskComposerTask auto profiles = getData(*context.data_storage, INPUT_PROFILES_PORT).template as>(); - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.template as(); - // Make a non-const copy of the input instructions to update the start/end auto& instructions = input_data_poly.template as(); - if (input_manip_info.empty() && instructions.getManipulatorInfo().empty()) + if (instructions.getManipulatorInfo().empty()) throw std::runtime_error("Missing manipulator information"); - instructions.setManipulatorInfo(instructions.getManipulatorInfo().getCombined(input_manip_info)); // -------------------- // Fill out request @@ -235,10 +224,6 @@ const std::string MotionPlannerTask::INPUT_ENVIRONMENT_PORT = template const std::string MotionPlannerTask::INPUT_PROFILES_PORT = "profiles"; -// Optional -template -const std::string MotionPlannerTask::INPUT_MANIP_INFO_PORT = "manip_info"; - } // namespace tesseract_planning #endif // TESSERACT_TASK_COMPOSER_MOTION_PLANNER_TASK_HPP diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h index 03482d67ee..258fbb2e5f 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h @@ -64,9 +64,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT RasterMotionTask : public Ta static const std::string INOUT_PROGRAM_PORT; static const std::string INPUT_ENVIRONMENT_PORT; - // Optional - static const std::string INPUT_MANIP_INFO_PORT; - struct TaskFactoryResults { TaskComposerNode::UPtr node; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h index 2410b4164f..7cda745387 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h @@ -60,9 +60,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT RasterOnlyMotionTask : publi static const std::string INOUT_PROGRAM_PORT; static const std::string INPUT_ENVIRONMENT_PORT; - // Optional - static const std::string INPUT_MANIP_INFO_PORT; - struct TaskFactoryResults { TaskComposerNode::UPtr node; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h index e55906e8ee..2b75aaa002 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h @@ -44,9 +44,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT RuckigTrajectorySmoothingTas static const std::string INPUT_ENVIRONMENT_PORT; static const std::string INPUT_PROFILES_PORT; - // Optional - static const std::string INPUT_MANIP_INFO_PORT; - using Ptr = std::shared_ptr; using ConstPtr = std::shared_ptr; using UPtr = std::unique_ptr; diff --git a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h index ee0669f52e..0f83ab7dc7 100644 --- a/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h +++ b/tesseract_task_composer/planning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h @@ -48,9 +48,6 @@ class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT TimeOptimalParameterizationT static const std::string INPUT_ENVIRONMENT_PORT; static const std::string INPUT_PROFILES_PORT; - // Optional - static const std::string INPUT_MANIP_INFO_PORT; - using Ptr = std::shared_ptr; using ConstPtr = std::shared_ptr; using UPtr = std::unique_ptr; diff --git a/tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp b/tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp index f19fa2e056..9888a1ab7e 100644 --- a/tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/continuous_contact_check_task.cpp @@ -62,7 +62,6 @@ const std::string ContinuousContactCheckTask::INPUT_ENVIRONMENT_PORT = "environm const std::string ContinuousContactCheckTask::INPUT_PROFILES_PORT = "profiles"; // Optional -const std::string ContinuousContactCheckTask::INPUT_MANIP_INFO_PORT = "manip_info"; const std::string ContinuousContactCheckTask::OUTPUT_CONTACT_RESULTS_PORT = "contact_results"; ContinuousContactCheckTask::ContinuousContactCheckTask() @@ -97,7 +96,6 @@ TaskComposerNodePorts ContinuousContactCheckTask::ports() ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; ports.output_optional[OUTPUT_CONTACT_RESULTS_PORT] = TaskComposerNodePorts::SINGLE; return ports; @@ -135,11 +133,6 @@ ContinuousContactCheckTask::runImpl(TaskComposerContext& context, OptionalTaskCo return info; } - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - // Get Composite Profile auto profiles = getData(*context.data_storage, INPUT_PROFILES_PORT).as>(); const auto& ci = input_data_poly.as(); @@ -148,7 +141,7 @@ ContinuousContactCheckTask::runImpl(TaskComposerContext& context, OptionalTaskCo auto cur_composite_profile = getProfile(ns_, ci.getProfile(ns_), *profiles, default_profile); // Get state solver - tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo().getCombined(input_manip_info); + tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo(); tesseract_kinematics::JointGroup::ConstPtr manip = env->getJointGroup(manip_info.manipulator); tesseract_scene_graph::StateSolver::UPtr state_solver = env->getStateSolver(); diff --git a/tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp b/tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp index 246c028553..c57474b8ab 100644 --- a/tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/discrete_contact_check_task.cpp @@ -62,7 +62,6 @@ const std::string DiscreteContactCheckTask::INPUT_ENVIRONMENT_PORT = "environmen const std::string DiscreteContactCheckTask::INPUT_PROFILES_PORT = "profiles"; // Optional -const std::string DiscreteContactCheckTask::INPUT_MANIP_INFO_PORT = "manip_info"; const std::string DiscreteContactCheckTask::OUTPUT_CONTACT_RESULTS_PORT = "contact_results"; DiscreteContactCheckTask::DiscreteContactCheckTask() @@ -97,8 +96,6 @@ TaskComposerNodePorts DiscreteContactCheckTask::ports() ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; - ports.output_optional[OUTPUT_CONTACT_RESULTS_PORT] = TaskComposerNodePorts::SINGLE; return ports; } @@ -133,11 +130,6 @@ std::unique_ptr DiscreteContactCheckTask::runImpl(TaskComp return info; } - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - // Get Composite Profile auto profiles = getData(*context.data_storage, INPUT_PROFILES_PORT).as>(); const auto& ci = input_data_poly.as(); @@ -145,7 +137,7 @@ std::unique_ptr DiscreteContactCheckTask::runImpl(TaskComp getProfile(ns_, ci.getProfile(ns_), *profiles, std::make_shared()); // Get state solver - tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo().getCombined(input_manip_info); + tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo(); tesseract_kinematics::JointGroup::ConstPtr manip = env->getJointGroup(manip_info.manipulator); tesseract_scene_graph::StateSolver::UPtr state_solver = env->getStateSolver(); tesseract_collision::DiscreteContactManager::Ptr manager = env->getDiscreteContactManager(); diff --git a/tesseract_task_composer/planning/src/nodes/fix_state_bounds_task.cpp b/tesseract_task_composer/planning/src/nodes/fix_state_bounds_task.cpp index 2da94de1bd..315aeb81f2 100644 --- a/tesseract_task_composer/planning/src/nodes/fix_state_bounds_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/fix_state_bounds_task.cpp @@ -53,9 +53,6 @@ const std::string FixStateBoundsTask::INOUT_PROGRAM_PORT = "program"; const std::string FixStateBoundsTask::INPUT_ENVIRONMENT_PORT = "environment"; const std::string FixStateBoundsTask::INPUT_PROFILES_PORT = "profiles"; -// Optional -const std::string FixStateBoundsTask::INPUT_MANIP_INFO_PORT = "manip_info"; - FixStateBoundsTask::FixStateBoundsTask() : TaskComposerTask("FixStateBoundsTask", FixStateBoundsTask::ports(), true) {} FixStateBoundsTask::FixStateBoundsTask(std::string name, std::string input_program_key, @@ -86,8 +83,6 @@ TaskComposerNodePorts FixStateBoundsTask::ports() ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; - ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; return ports; @@ -124,14 +119,8 @@ std::unique_ptr FixStateBoundsTask::runImpl(TaskComposerCo tesseract_common::AnyPoly original_input_data_poly{ input_data_poly }; - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - auto profiles = getData(*context.data_storage, INPUT_PROFILES_PORT).as>(); auto& ci = input_data_poly.as(); - ci.setManipulatorInfo(ci.getManipulatorInfo().getCombined(input_manip_info)); const tesseract_common::ManipulatorInfo& manip_info = ci.getManipulatorInfo(); auto joint_group = env->getJointGroup(manip_info.manipulator); auto limits = joint_group->getLimits(); diff --git a/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp b/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp index dcd4727e29..7900489d19 100644 --- a/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp @@ -65,7 +65,6 @@ const std::string FixStateCollisionTask::INPUT_ENVIRONMENT_PORT = "environment"; const std::string FixStateCollisionTask::INPUT_PROFILES_PORT = "profiles"; // Optional -const std::string FixStateCollisionTask::INPUT_MANIP_INFO_PORT = "manip_info"; const std::string FixStateCollisionTask::OUTPUT_CONTACT_RESULTS_PORT = "contact_results"; bool stateInCollision(const Eigen::Ref& start_pos, @@ -380,8 +379,6 @@ TaskComposerNodePorts FixStateCollisionTask::ports() ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; - ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; ports.output_optional[OUTPUT_CONTACT_RESULTS_PORT] = TaskComposerNodePorts::SINGLE; @@ -420,11 +417,6 @@ std::unique_ptr FixStateCollisionTask::runImpl(TaskCompose tesseract_common::AnyPoly original_input_data_poly{ input_data_poly }; - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - // Get Composite Profile auto profiles = getData(*context.data_storage, INPUT_PROFILES_PORT).as>(); auto& ci = input_data_poly.as(); diff --git a/tesseract_task_composer/planning/src/nodes/iterative_spline_parameterization_task.cpp b/tesseract_task_composer/planning/src/nodes/iterative_spline_parameterization_task.cpp index c071fcba39..ea7e9dca79 100644 --- a/tesseract_task_composer/planning/src/nodes/iterative_spline_parameterization_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/iterative_spline_parameterization_task.cpp @@ -54,9 +54,6 @@ const std::string IterativeSplineParameterizationTask::INOUT_PROGRAM_PORT = "pro const std::string IterativeSplineParameterizationTask::INPUT_ENVIRONMENT_PORT = "environment"; const std::string IterativeSplineParameterizationTask::INPUT_PROFILES_PORT = "profiles"; -// Optional -const std::string IterativeSplineParameterizationTask::INPUT_MANIP_INFO_PORT = "manip_info"; - IterativeSplineParameterizationTask::IterativeSplineParameterizationTask() : TaskComposerTask("IterativeSplineParameterizationTask", IterativeSplineParameterizationTask::ports(), true) { @@ -104,8 +101,6 @@ TaskComposerNodePorts IterativeSplineParameterizationTask::ports() ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; - ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; return ports; @@ -143,19 +138,13 @@ IterativeSplineParameterizationTask::runImpl(TaskComposerContext& context, } tesseract_common::AnyPoly original_input_data_poly{ input_data_poly }; - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - auto& ci = input_data_poly.as(); - tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo().getCombined(input_manip_info); + tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo(); auto joint_group = env->getJointGroup(manip_info.manipulator); auto limits = joint_group->getLimits(); // Get Composite Profile auto profiles = getData(*context.data_storage, INPUT_PROFILES_PORT).as>(); - std::string profile = ci.getProfile(); auto cur_composite_profile = getProfile( ns_, ci.getProfile(ns_), *profiles, std::make_shared()); diff --git a/tesseract_task_composer/planning/src/nodes/raster_motion_task.cpp b/tesseract_task_composer/planning/src/nodes/raster_motion_task.cpp index 8c69071484..692c469930 100644 --- a/tesseract_task_composer/planning/src/nodes/raster_motion_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/raster_motion_task.cpp @@ -97,9 +97,6 @@ namespace tesseract_planning const std::string RasterMotionTask::INOUT_PROGRAM_PORT = "program"; const std::string RasterMotionTask::INPUT_ENVIRONMENT_PORT = "environment"; -// Optional -const std::string RasterMotionTask::INPUT_MANIP_INFO_PORT = "manip_info"; - RasterMotionTask::RasterMotionTask() : TaskComposerTask("RasterMotionTask", RasterMotionTask::ports(), true) {} RasterMotionTask::RasterMotionTask(std::string name, std::string input_program_key, @@ -336,7 +333,6 @@ TaskComposerNodePorts RasterMotionTask::ports() ports.input_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; return ports; } @@ -386,16 +382,10 @@ std::unique_ptr RasterMotionTask::runImpl(TaskComposerCont return info; } auto& program = input_data_poly.template as(); - - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); + tesseract_common::ManipulatorInfo program_manip_info = program.getManipulatorInfo(); TaskComposerGraph task_graph; - tesseract_common::ManipulatorInfo program_manip_info = program.getManipulatorInfo().getCombined(input_manip_info); - // Start Task auto start_task = std::make_unique(); auto start_uuid = task_graph.addNode(std::move(start_task)); diff --git a/tesseract_task_composer/planning/src/nodes/raster_only_motion_task.cpp b/tesseract_task_composer/planning/src/nodes/raster_only_motion_task.cpp index 4bf433363c..982d8b06f6 100644 --- a/tesseract_task_composer/planning/src/nodes/raster_only_motion_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/raster_only_motion_task.cpp @@ -98,9 +98,6 @@ namespace tesseract_planning const std::string RasterOnlyMotionTask::INOUT_PROGRAM_PORT = "program"; const std::string RasterOnlyMotionTask::INPUT_ENVIRONMENT_PORT = "environment"; -// Optional -const std::string RasterOnlyMotionTask::INPUT_MANIP_INFO_PORT = "manip_info"; - RasterOnlyMotionTask::RasterOnlyMotionTask() : TaskComposerTask("RasterOnlyMotionTask", RasterOnlyMotionTask::ports(), true) { @@ -274,7 +271,6 @@ TaskComposerNodePorts RasterOnlyMotionTask::ports() ports.input_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; return ports; } @@ -315,11 +311,6 @@ std::unique_ptr RasterOnlyMotionTask::runImpl(TaskComposer env_poly.as>()->clone(); info->data_storage.setData("environment", env); - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - auto input_data_poly = getData(*context.data_storage, INOUT_PROGRAM_PORT); try { @@ -333,9 +324,9 @@ std::unique_ptr RasterOnlyMotionTask::runImpl(TaskComposer } auto& program = input_data_poly.template as(); - TaskComposerGraph task_graph; + tesseract_common::ManipulatorInfo program_manip_info = program.getManipulatorInfo(); - tesseract_common::ManipulatorInfo program_manip_info = program.getManipulatorInfo().getCombined(input_manip_info); + TaskComposerGraph task_graph; // Start Task auto start_task = std::make_unique(); diff --git a/tesseract_task_composer/planning/src/nodes/ruckig_trajectory_smoothing_task.cpp b/tesseract_task_composer/planning/src/nodes/ruckig_trajectory_smoothing_task.cpp index 5a01519f3e..6864d20e01 100644 --- a/tesseract_task_composer/planning/src/nodes/ruckig_trajectory_smoothing_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/ruckig_trajectory_smoothing_task.cpp @@ -54,9 +54,6 @@ const std::string RuckigTrajectorySmoothingTask::INOUT_PROGRAM_PORT = "program"; const std::string RuckigTrajectorySmoothingTask::INPUT_ENVIRONMENT_PORT = "environment"; const std::string RuckigTrajectorySmoothingTask::INPUT_PROFILES_PORT = "profiles"; -// Optional -const std::string RuckigTrajectorySmoothingTask::INPUT_MANIP_INFO_PORT = "manip_info"; - RuckigTrajectorySmoothingTask::RuckigTrajectorySmoothingTask() : TaskComposerTask("RuckigTrajectorySmoothingTask", RuckigTrajectorySmoothingTask::ports(), true) { @@ -90,8 +87,6 @@ TaskComposerNodePorts RuckigTrajectorySmoothingTask::ports() ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; - ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; return ports; @@ -129,13 +124,8 @@ RuckigTrajectorySmoothingTask::runImpl(TaskComposerContext& context, OptionalTas tesseract_common::AnyPoly original_input_data_poly{ input_data_poly }; - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - auto& ci = input_data_poly.as(); - tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo().getCombined(input_manip_info); + tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo(); auto joint_group = env->getJointGroup(manip_info.manipulator); auto limits = joint_group->getLimits(); diff --git a/tesseract_task_composer/planning/src/nodes/time_optimal_parameterization_task.cpp b/tesseract_task_composer/planning/src/nodes/time_optimal_parameterization_task.cpp index 309ea0eb42..e9a461f5ea 100644 --- a/tesseract_task_composer/planning/src/nodes/time_optimal_parameterization_task.cpp +++ b/tesseract_task_composer/planning/src/nodes/time_optimal_parameterization_task.cpp @@ -60,9 +60,6 @@ const std::string TimeOptimalParameterizationTask::INOUT_PROGRAM_PORT = "program const std::string TimeOptimalParameterizationTask::INPUT_ENVIRONMENT_PORT = "environment"; const std::string TimeOptimalParameterizationTask::INPUT_PROFILES_PORT = "profiles"; -// Optional -const std::string TimeOptimalParameterizationTask::INPUT_MANIP_INFO_PORT = "manip_info"; - TimeOptimalParameterizationTask::TimeOptimalParameterizationTask() : TaskComposerTask("TimeOptimalParameterizationTask", TimeOptimalParameterizationTask::ports(), true) { @@ -96,8 +93,6 @@ TaskComposerNodePorts TimeOptimalParameterizationTask::ports() ports.input_required[INPUT_ENVIRONMENT_PORT] = TaskComposerNodePorts::SINGLE; ports.input_required[INPUT_PROFILES_PORT] = TaskComposerNodePorts::SINGLE; - ports.input_optional[INPUT_MANIP_INFO_PORT] = TaskComposerNodePorts::SINGLE; - ports.output_required[INOUT_PROGRAM_PORT] = TaskComposerNodePorts::SINGLE; return ports; @@ -134,13 +129,8 @@ TimeOptimalParameterizationTask::runImpl(TaskComposerContext& context, OptionalT } tesseract_common::AnyPoly original_input_data_poly{ input_data_poly }; - tesseract_common::ManipulatorInfo input_manip_info; - auto manip_info_poly = getData(*context.data_storage, INPUT_MANIP_INFO_PORT, false); - if (!manip_info_poly.isNull()) - input_manip_info = manip_info_poly.as(); - auto& ci = input_data_poly.as(); - tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo().getCombined(input_manip_info); + tesseract_common::ManipulatorInfo manip_info = ci.getManipulatorInfo(); auto joint_group = env->getJointGroup(manip_info.manipulator); auto limits = joint_group->getLimits(); diff --git a/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp b/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp index a079234d5c..ffdf3c7032 100644 --- a/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp +++ b/tesseract_task_composer/test/tesseract_task_composer_planning_unit.cpp @@ -94,17 +94,15 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerContinuousContactCheckTask inputs: program: input_data environment: environment - profiles: profiles - manip_info: manip_info)"; + profiles: profiles)"; YAML::Node config = YAML::Load(str); ContinuousContactCheckTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(ContinuousContactCheckTask::INPUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(ContinuousContactCheckTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(ContinuousContactCheckTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(ContinuousContactCheckTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 0); EXPECT_EQ(task.getOutboundEdges().size(), 0); EXPECT_EQ(task.getInboundEdges().size(), 0); @@ -268,17 +266,15 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerDiscreteContactCheckTaskTe inputs: program: input_data environment: environment - profiles: profiles - manip_info: manip_info)"; + profiles: profiles)"; YAML::Node config = YAML::Load(str); DiscreteContactCheckTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(DiscreteContactCheckTask::INPUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(DiscreteContactCheckTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(DiscreteContactCheckTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(DiscreteContactCheckTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 0); EXPECT_EQ(task.getOutboundEdges().size(), 0); EXPECT_EQ(task.getInboundEdges().size(), 0); @@ -1109,18 +1105,16 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerFixStateBoundsTaskTests) program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data)"; YAML::Node config = YAML::Load(str); FixStateBoundsTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(FixStateBoundsTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(FixStateBoundsTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(FixStateBoundsTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(FixStateBoundsTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(FixStateBoundsTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -1281,18 +1275,16 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerFixStateCollisionTaskTests program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data)"; YAML::Node config = YAML::Load(str); FixStateCollisionTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(FixStateCollisionTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(FixStateCollisionTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(FixStateCollisionTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(FixStateCollisionTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(FixStateCollisionTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -1993,7 +1985,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerIterativeSplineParameteriz program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data add_points: true)"; @@ -2001,11 +1992,10 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerIterativeSplineParameteriz IterativeSplineParameterizationTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(IterativeSplineParameterizationTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(IterativeSplineParameterizationTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(IterativeSplineParameterizationTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(IterativeSplineParameterizationTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(IterativeSplineParameterizationTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -2180,18 +2170,16 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerTimeOptimalParameterizatio program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data)"; YAML::Node config = YAML::Load(str); TimeOptimalParameterizationTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(TimeOptimalParameterizationTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(TimeOptimalParameterizationTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(TimeOptimalParameterizationTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(TimeOptimalParameterizationTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(TimeOptimalParameterizationTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -2368,18 +2356,16 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRuckigTrajectorySmoothingT program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data)"; YAML::Node config = YAML::Load(str); RuckigTrajectorySmoothingTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(RuckigTrajectorySmoothingTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(RuckigTrajectorySmoothingTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(RuckigTrajectorySmoothingTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(RuckigTrajectorySmoothingTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(RuckigTrajectorySmoothingTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -2563,7 +2549,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerMotionPlannerTaskTests) / program: input_data environment: environment profiles: profiles - manip_info: manip_info outputs: program: output_data format_result_as_input: false)"; @@ -2571,11 +2556,10 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerMotionPlannerTaskTests) / MotionPlannerTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 4); + EXPECT_EQ(task.getInputKeys().size(), 3); EXPECT_EQ(task.getInputKeys().get(MotionPlannerTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(MotionPlannerTask::INPUT_ENVIRONMENT_PORT), "environment"); EXPECT_EQ(task.getInputKeys().get(MotionPlannerTask::INPUT_PROFILES_PORT), "profiles"); - EXPECT_EQ(task.getInputKeys().get(MotionPlannerTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(MotionPlannerTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -2746,7 +2730,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2765,10 +2748,9 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // RasterMotionTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 3); + EXPECT_EQ(task.getInputKeys().size(), 2); EXPECT_EQ(task.getInputKeys().get(RasterMotionTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(RasterMotionTask::INPUT_ENVIRONMENT_PORT), "environment"); - EXPECT_EQ(task.getInputKeys().get(RasterMotionTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(RasterMotionTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -2807,7 +2789,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2823,7 +2804,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2838,7 +2818,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2855,7 +2834,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2872,7 +2850,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2889,7 +2866,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2909,7 +2885,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2928,7 +2903,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2949,7 +2923,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2970,7 +2943,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -2991,7 +2963,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -3015,7 +2986,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -3134,7 +3104,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -3178,7 +3147,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -3223,7 +3191,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -3268,7 +3235,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterMotionTaskTests) // inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data freespace: @@ -3327,7 +3293,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3342,10 +3307,9 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) RasterOnlyMotionTask task("abc", config["config"], factory); EXPECT_EQ(task.getName(), "abc"); EXPECT_EQ(task.isConditional(), true); - EXPECT_EQ(task.getInputKeys().size(), 3); + EXPECT_EQ(task.getInputKeys().size(), 2); EXPECT_EQ(task.getInputKeys().get(RasterOnlyMotionTask::INOUT_PROGRAM_PORT), "input_data"); EXPECT_EQ(task.getInputKeys().get(RasterOnlyMotionTask::INPUT_ENVIRONMENT_PORT), "environment"); - EXPECT_EQ(task.getInputKeys().get(RasterOnlyMotionTask::INPUT_MANIP_INFO_PORT), "manip_info"); EXPECT_EQ(task.getOutputKeys().size(), 1); EXPECT_EQ(task.getOutputKeys().get(RasterOnlyMotionTask::INOUT_PROGRAM_PORT), "output_data"); EXPECT_EQ(task.getOutboundEdges().size(), 0); @@ -3364,8 +3328,7 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) conditional: true inputs: program: input_data - environment: environment - manip_info: manip_info)"; + environment: environment)"; YAML::Node config = YAML::Load(str); EXPECT_ANY_THROW(std::make_unique("abc", config["config"], factory)); // NOLINT } @@ -3385,7 +3348,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3401,7 +3363,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3416,7 +3377,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3433,7 +3393,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3450,7 +3409,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3467,7 +3425,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3487,7 +3444,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3601,7 +3557,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3641,7 +3596,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3682,7 +3636,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: @@ -3723,7 +3676,6 @@ TEST_F(TesseractTaskComposerPlanningUnit, TaskComposerRasterOnlyMotionTaskTests) inputs: program: input_data environment: environment - manip_info: manip_info outputs: program: output_data raster: