tesseract-robotics · Levi-Armstrong · Dec 9, 2024 · Dec 9, 2024
diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml
@@ -35,7 +35,7 @@ jobs:
       fail-fast: false
       matrix:
         config:
-          - runner: macos-12
+          - runner: macos-13
             vcpkg_triplet: x64-osx-dynamic-release
             arch: x64
             homebrew_root: /usr/local

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
diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
@@ -40,7 +40,9 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_common/fwd.h>
 
 #include <tesseract_task_composer/core/task_composer_keys.h>
+#include <tesseract_task_composer/core/task_composer_node_types.h>
 #include <tesseract_task_composer/core/task_composer_node_ports.h>
+#include <tesseract_task_composer/core/task_composer_node_info.h>
 
 namespace YAML
 {
@@ -52,15 +54,6 @@ namespace tesseract_planning
 class TaskComposerDataStorage;
 class TaskComposerContext;
 class TaskComposerExecutor;
-class TaskComposerNodeInfo;
-
-enum class TaskComposerNodeType
-{
-  NODE,
-  TASK,
-  PIPELINE,
-  GRAPH
-};
 
 /** @brief Represents a node the pipeline to be executed */
 class TaskComposerNode
@@ -71,6 +64,9 @@ class TaskComposerNode
   using UPtr = std::unique_ptr<TaskComposerNode>;
   using ConstUPtr = std::unique_ptr<const TaskComposerNode>;
 
+  // @brief The results map
+  using ResultsMap = std::map<boost::uuids::uuid, std::unique_ptr<TaskComposerNodeInfo>>;
+
   /** @brief Most task will not require a executor so making it optional */
   using OptionalTaskComposerExecutor = std::optional<std::reference_wrapper<TaskComposerExecutor>>;
 
@@ -148,12 +144,10 @@ class TaskComposerNode
   TaskComposerNodePorts getPorts() const;
 
   /** @brief Generate the Dotgraph as a string */
-  std::string
-  getDotgraph(const std::map<boost::uuids::uuid, std::unique_ptr<TaskComposerNodeInfo>>& results_map = {}) const;
+  std::string getDotgraph(const ResultsMap& results_map = ResultsMap()) const;
 
   /** @brief Generate the Dotgraph and save to file */
-  bool saveDotgraph(const std::string& filepath,
-                    const std::map<boost::uuids::uuid, std::unique_ptr<TaskComposerNodeInfo>>& results_map = {}) const;
+  bool saveDotgraph(const std::string& filepath, const ResultsMap& results_map = ResultsMap()) const;  // NOLINT
 
   /** @brief Rename input keys */
   virtual void renameInputKeys(const std::map<std::string, std::string>& input_keys);
@@ -168,10 +162,9 @@ class TaskComposerNode
    * @brief dump the task to dot
    * @brief Return additional subgraphs which should get appended if needed
    */
-  virtual std::string
-  dump(std::ostream& os,
-       const TaskComposerNode* parent = nullptr,
-       const std::map<boost::uuids::uuid, std::unique_ptr<TaskComposerNodeInfo>>& results_map = {}) const;
+  virtual std::string dump(std::ostream& os,
+                           const TaskComposerNode* parent = nullptr,
+                           const ResultsMap& results_map = ResultsMap()) const;
 
   bool operator==(const TaskComposerNode& rhs) const;
   bool operator!=(const TaskComposerNode& rhs) const;

diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_info.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_info.h
@@ -40,12 +40,14 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/any_poly.h>
 
-#include <tesseract_task_composer/core/task_composer_node.h>
+#include <tesseract_task_composer/core/task_composer_node_types.h>
 #include <tesseract_task_composer/core/task_composer_keys.h>
 #include <tesseract_task_composer/core/task_composer_data_storage.h>
 
 namespace tesseract_planning
 {
+class TaskComposerNode;
+
 /** Stores information about a node */
 class TaskComposerNodeInfo
 {
@@ -57,7 +59,7 @@ class TaskComposerNodeInfo
 
   TaskComposerNodeInfo() = default;  // Required for serialization
   TaskComposerNodeInfo(const TaskComposerNode& node);
-  ~TaskComposerNodeInfo() = default;
+  ~TaskComposerNodeInfo();
   TaskComposerNodeInfo(const TaskComposerNodeInfo&) = default;
   TaskComposerNodeInfo& operator=(const TaskComposerNodeInfo&) = default;
   TaskComposerNodeInfo(TaskComposerNodeInfo&&) = default;

diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_types.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_types.h
@@ -0,0 +1,40 @@
+/**
+ * @file task_composer_node_types.h
+ * @brief A node types enum
+ *
+ * @author Levi Armstrong
+ * @date July 29. 2022
+ * @version TODO
+ * @bug No known bugs
+ *
+ * @copyright Copyright (c) 2022, Levi Armstrong
+ *
+ * @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.
+ */
+#ifndef TESSERACT_TASK_COMPOSER_TASK_COMPOSER_NODE_TYPES_H
+#define TESSERACT_TASK_COMPOSER_TASK_COMPOSER_NODE_TYPES_H
+
+namespace tesseract_planning
+{
+enum class TaskComposerNodeType
+{
+  NODE,
+  TASK,
+  PIPELINE,
+  GRAPH
+};
+}
+
+#endif  // TESSERACT_TASK_COMPOSER_TASK_COMPOSER_NODE_TYPES_H
diff --git a/...ct_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h b/...ct_task_composer/core/include/tesseract_task_composer/core/task_composer_plugin_factory.h
@@ -100,8 +100,8 @@ class TaskComposerPluginFactory
   ~TaskComposerPluginFactory();
   TaskComposerPluginFactory(const TaskComposerPluginFactory&) = delete;
   TaskComposerPluginFactory& operator=(const TaskComposerPluginFactory&) = delete;
-  TaskComposerPluginFactory(TaskComposerPluginFactory&&) = default;
-  TaskComposerPluginFactory& operator=(TaskComposerPluginFactory&&) = default;
+  TaskComposerPluginFactory(TaskComposerPluginFactory&&) noexcept = default;
+  TaskComposerPluginFactory& operator=(TaskComposerPluginFactory&&) noexcept = default;
 
   /**
    * @brief Load plugins from a configuration object

diff --git a/tesseract_task_composer/core/src/task_composer_node.cpp b/tesseract_task_composer/core/src/task_composer_node.cpp
@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/uuid/uuid_generators.hpp>
 #include <boost/uuid/uuid_io.hpp>
 #include <boost/uuid/uuid_serialize.hpp>
+#include <boost/algorithm/string/replace.hpp>
 #include <yaml-cpp/yaml.h>
 #include <console_bridge/console.h>
 #include <tesseract_common/serialization.h>
@@ -384,8 +385,7 @@ const TaskComposerKeys& TaskComposerNode::getOutputKeys() const { return output_
 
 TaskComposerNodePorts TaskComposerNode::getPorts() const { return ports_; }
 
-std::string TaskComposerNode::getDotgraph(
-    const std::map<boost::uuids::uuid, std::unique_ptr<TaskComposerNodeInfo>>& results_map) const
+std::string TaskComposerNode::getDotgraph(const ResultsMap& results_map) const
 {
   try
   {
@@ -402,9 +402,7 @@ std::string TaskComposerNode::getDotgraph(
   return {};
 }
 
-bool TaskComposerNode::saveDotgraph(
-    const std::string& filepath,
-    const std::map<boost::uuids::uuid, std::unique_ptr<TaskComposerNodeInfo>>& results_map) const
+bool TaskComposerNode::saveDotgraph(const std::string& filepath, const ResultsMap& results_map) const
 {
   try
   {
@@ -435,10 +433,9 @@ void TaskComposerNode::renameOutputKeys(const std::map<std::string, std::string>
 
 void TaskComposerNode::setConditional(bool enable) { conditional_ = enable; }
 
-std::string
-TaskComposerNode::dump(std::ostream& os,
-                       const TaskComposerNode* /*parent*/,
-                       const std::map<boost::uuids::uuid, std::unique_ptr<TaskComposerNodeInfo>>& results_map) const
+std::string TaskComposerNode::dump(std::ostream& os,
+                                   const TaskComposerNode* /*parent*/,
+                                   const ResultsMap& results_map) const
 {
   const std::string tmp = toString(uuid_, "node_");
 
@@ -543,18 +540,8 @@ void TaskComposerNode::serialize(Archive& ar, const unsigned int /*version*/)
 
 std::string TaskComposerNode::toString(const boost::uuids::uuid& u, const std::string& prefix)
 {
-  std::string result;
-  result.reserve(36);
-
-  std::size_t i = 0;
-  for (const auto* it_data = u.begin(); it_data != u.end(); ++it_data, ++i)
-  {
-    const size_t hi = ((*it_data) >> 4) & 0x0F;
-    result += boost::uuids::detail::to_char(hi);
-
-    const size_t lo = (*it_data) & 0x0F;
-    result += boost::uuids::detail::to_char(lo);
-  }
+  auto result = boost::uuids::to_string(u);
+  boost::replace_all(result, "-", "");
   return (prefix + result);
 }
 

diff --git a/tesseract_task_composer/core/src/task_composer_node_info.cpp b/tesseract_task_composer/core/src/task_composer_node_info.cpp
@@ -39,6 +39,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_node_info.h>
+#include <tesseract_task_composer/core/task_composer_node.h>
 #include <tesseract_task_composer/core/task_composer_graph.h>
 
 namespace tesseract_planning
@@ -66,6 +67,8 @@ TaskComposerNodeInfo::TaskComposerNodeInfo(const TaskComposerNode& node)
   }
 }
 
+TaskComposerNodeInfo::~TaskComposerNodeInfo() = default;
+
 bool TaskComposerNodeInfo::operator==(const TaskComposerNodeInfo& rhs) const
 {
   static auto max_diff = static_cast<double>(std::numeric_limits<float>::epsilon());