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Use std::optional instead of nullptr checking #2454

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merged 13 commits into from
May 1, 2024
Merged

Use std::optional instead of nullptr checking #2454

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4f4e9f8
Make object_types_ variable as optional data
Shobuj-Paul Oct 14, 2023
efebda9
Made changes as per suggestions
Shobuj-Paul Oct 19, 2023
569d964
formatting by pre-commit
Shobuj-Paul Oct 20, 2023
0c27479
using the default reset() function for std::optional
Shobuj-Paul Oct 22, 2023
c983748
Added extra guard while dereferencing
Shobuj-Paul Oct 23, 2023
610098e
Assigned values to optional using value_or() function
Shobuj-Paul Oct 23, 2023
91f9ba7
Assigning values to empty optionals using emplace() function
Shobuj-Paul Oct 23, 2023
4c360dd
Fixed clang-format warnings
Shobuj-Paul Oct 23, 2023
a42ff90
Wrapped acm_ in optional
Shobuj-Paul Oct 23, 2023
726b867
Wrapped robot_state_ in optional
Shobuj-Paul Oct 23, 2023
d31ff9d
Wrapped scene_transforms__ in optional
Shobuj-Paul Oct 23, 2023
271b4a4
Changed object_types_, acm_ and robot_state_ to values instead of poi…
Shobuj-Paul Oct 24, 2023
39e6839
applied clang-tidy changes
Shobuj-Paul Oct 25, 2023
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19 changes: 10 additions & 9 deletions moveit_core/planning_scene/include/moveit/planning_scene/planning_scene.h
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@
#include <optional>
#include <thread>
#include <variant>
#include <optional>
#include <rclcpp/rclcpp.hpp>

#include <moveit_planning_scene_export.h>
Expand Down Expand Up @@ -159,7 +160,7 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro
const moveit::core::RobotState& getCurrentState() const
{
// if we have an updated state, return it; otherwise, return the parent one
return robot_state_ ? *robot_state_ : parent_->getCurrentState();
return robot_state_.has_value() ? robot_state_.value() : parent_->getCurrentState();
}
/** \brief Get the state at which the robot is assumed to be. */
moveit::core::RobotState& getCurrentStateNonConst();
Expand All @@ -176,15 +177,15 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro
const std::string& getPlanningFrame() const
{
// if we have an updated set of transforms, return it; otherwise, return the parent one
return scene_transforms_ ? scene_transforms_->getTargetFrame() : parent_->getPlanningFrame();
return scene_transforms_.has_value() ? scene_transforms_.value()->getTargetFrame() : parent_->getPlanningFrame();
}

/** \brief Get the set of fixed transforms from known frames to the planning frame */
const moveit::core::Transforms& getTransforms() const
{
if (scene_transforms_ || !parent_)
if (scene_transforms_.has_value() || !parent_)
{
return *scene_transforms_;
return *scene_transforms_.value();
}

// if this planning scene is a child of another, and doesn't have its own custom transforms
Expand Down Expand Up @@ -290,7 +291,7 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro
/** \brief Get the allowed collision matrix */
const collision_detection::AllowedCollisionMatrix& getAllowedCollisionMatrix() const
{
return acm_ ? *acm_ : parent_->getAllowedCollisionMatrix();
return acm_.has_value() ? acm_.value() : parent_->getAllowedCollisionMatrix();
}

/** \brief Get the allowed collision matrix */
Expand Down Expand Up @@ -1011,14 +1012,14 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro

moveit::core::RobotModelConstPtr robot_model_; // Never null (may point to same model as parent)

moveit::core::RobotStatePtr robot_state_; // if nullptr use parent's
std::optional<moveit::core::RobotState> robot_state_; // if there is no value use parent's

// Called when changes are made to attached bodies
moveit::core::AttachedBodyCallback current_state_attached_body_callback_;

// This variable is not necessarily used by child planning scenes
// This Transforms class is actually a SceneTransforms class
moveit::core::TransformsPtr scene_transforms_; // if nullptr use parent's
std::optional<moveit::core::TransformsPtr> scene_transforms_; // if there is no value use parent's

collision_detection::WorldPtr world_; // never nullptr, never shared with parent/child
collision_detection::WorldConstPtr world_const_; // copy of world_
Expand All @@ -1028,7 +1029,7 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro

CollisionDetectorPtr collision_detector_; // Never nullptr.

collision_detection::AllowedCollisionMatrixPtr acm_; // if nullptr use parent's
std::optional<collision_detection::AllowedCollisionMatrix> acm_; // if there is no value use parent's

StateFeasibilityFn state_feasibility_;
MotionFeasibilityFn motion_feasibility_;
Expand All @@ -1038,6 +1039,6 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro
std::unique_ptr<ObjectColorMap> original_object_colors_;

// a map of object types
std::unique_ptr<ObjectTypeMap> object_types_;
std::optional<ObjectTypeMap> object_types_;
};
} // namespace planning_scene
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