Switch to snake case for function names

Signed-off-by: methylDragon <[email protected]>
osrf · Sep 26, 2023 · af5827a · af5827a
1 parent c07e8bd
commit af5827a
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Showing 3 changed files with 26 additions and 26 deletions.
diff --git a/nexus_motion_planner/src/motion_plan_cache.cpp b/nexus_motion_planner/src/motion_plan_cache.cpp
@@ -54,7 +54,7 @@ void MotionPlanCache::init(
 
 // TOP LEVEL OPS ===============================================================
 std::vector<MessageWithMetadata<moveit_msgs::msg::RobotTrajectory>::ConstPtr>
-MotionPlanCache::fetchAllMatchingPlans(
+MotionPlanCache::fetch_all_matching_plans(
   const moveit::planning_interface::MoveGroupInterface& move_group,
   const std::string& move_group_namespace,
   const moveit_msgs::msg::MotionPlanRequest& plan_request,
@@ -65,9 +65,9 @@ MotionPlanCache::fetchAllMatchingPlans(
 
   Query::Ptr query = coll.createQuery();
 
-  bool start_ok = this->extractAndAppendStartToQuery(
+  bool start_ok = this->extract_and_append_start_to_query(
     *query, move_group, plan_request, start_tolerance);
-  bool goal_ok = this->extractAndAppendGoalToQuery(
+  bool goal_ok = this->extract_and_append_goal_to_query(
     *query, move_group, plan_request, goal_tolerance);
 
   if (!start_ok || !goal_ok)
@@ -81,15 +81,15 @@ MotionPlanCache::fetchAllMatchingPlans(
 }
 
 MessageWithMetadata<moveit_msgs::msg::RobotTrajectory>::ConstPtr
-MotionPlanCache::fetchBestMatchingPlan(
+MotionPlanCache::fetch_best_matching_plan(
   const moveit::planning_interface::MoveGroupInterface& move_group,
   const std::string& move_group_namespace,
   const moveit_msgs::msg::MotionPlanRequest& plan_request,
   double start_tolerance, double goal_tolerance, bool metadata_only)
 {
   // First find all matching, but metadata only.
   // Then use the ID metadata of the best plan to pull the actual message.
-  auto matching_plans = this->fetchAllMatchingPlans(
+  auto matching_plans = this->fetch_all_matching_plans(
     move_group, move_group_namespace,
     plan_request, start_tolerance, goal_tolerance,
     true);
@@ -113,7 +113,7 @@ MotionPlanCache::fetchBestMatchingPlan(
 }
 
 bool
-MotionPlanCache::putPlan(
+MotionPlanCache::put_plan(
   const moveit::planning_interface::MoveGroupInterface& move_group,
   const std::string& move_group_namespace,
   const moveit_msgs::msg::MotionPlanRequest& plan_request,
@@ -155,10 +155,10 @@ MotionPlanCache::putPlan(
   // overwrite.
   Query::Ptr exact_query = coll.createQuery();
 
-  bool start_query_ok = this->extractAndAppendStartToQuery(
+  bool start_query_ok = this->extract_and_append_start_to_query(
     *exact_query, move_group,
     plan_request, exact_match_precision_);
-  bool goal_query_ok = this->extractAndAppendGoalToQuery(
+  bool goal_query_ok = this->extract_and_append_goal_to_query(
     *exact_query, move_group,
     plan_request, exact_match_precision_);
 
@@ -208,9 +208,9 @@ MotionPlanCache::putPlan(
   {
     Metadata::Ptr insert_metadata = coll.createMetadata();
 
-    bool start_meta_ok = this->extractAndAppendStartToMetadata(
+    bool start_meta_ok = this->extract_and_append_start_to_metadata(
       *insert_metadata, move_group, plan_request);
-    bool goal_meta_ok = this->extractAndAppendGoalToMetadata(
+    bool goal_meta_ok = this->extract_and_append_goal_to_metadata(
       *insert_metadata, move_group, plan_request);
     insert_metadata->append("execution_time_s", execution_time_s);
 
@@ -242,7 +242,7 @@ MotionPlanCache::putPlan(
 
 // QUERY CONSTRUCTION ==========================================================
 bool
-MotionPlanCache::extractAndAppendStartToQuery(
+MotionPlanCache::extract_and_append_start_to_query(
   Query& query,
   const moveit::planning_interface::MoveGroupInterface& move_group,
   const moveit_msgs::msg::MotionPlanRequest& plan_request,
@@ -302,7 +302,7 @@ MotionPlanCache::extractAndAppendStartToQuery(
     // NOTE: methyldragon -
     //   I think if is_diff is on, the joint states will not be populated in all
     //   of our motion plan requests? If this isn't the case we might need to
-    //   apply the joint states after as well.
+    //   apply the joint states as offsets as well.
     moveit::core::RobotStatePtr current_state = move_group.getCurrentState();
     if (!current_state)
     {
@@ -348,7 +348,7 @@ MotionPlanCache::extractAndAppendStartToQuery(
 }
 
 bool
-MotionPlanCache::extractAndAppendGoalToQuery(
+MotionPlanCache::extract_and_append_goal_to_query(
   Query& query,
   const moveit::planning_interface::MoveGroupInterface& /* move_group */,
   const moveit_msgs::msg::MotionPlanRequest& plan_request,
@@ -591,7 +591,7 @@ MotionPlanCache::extractAndAppendGoalToQuery(
 
 // METADATA CONSTRUCTION =======================================================
 bool
-MotionPlanCache::extractAndAppendStartToMetadata(
+MotionPlanCache::extract_and_append_start_to_metadata(
   Metadata& metadata,
   const moveit::planning_interface::MoveGroupInterface& move_group,
   const moveit_msgs::msg::MotionPlanRequest& plan_request)
@@ -647,7 +647,7 @@ MotionPlanCache::extractAndAppendStartToMetadata(
     // NOTE: methyldragon -
     //   I think if is_diff is on, the joint states will not be populated in all
     //   of our motion plan requests? If this isn't the case we might need to
-    //   apply the joint states after as well.
+    //   apply the joint states as offsets as well.
     moveit::core::RobotStatePtr current_state = move_group.getCurrentState();
     if (!current_state)
     {
@@ -690,7 +690,7 @@ MotionPlanCache::extractAndAppendStartToMetadata(
 }
 
 bool
-MotionPlanCache::extractAndAppendGoalToMetadata(
+MotionPlanCache::extract_and_append_goal_to_metadata(
   Metadata& metadata,
   const moveit::planning_interface::MoveGroupInterface& /* move_group */,
   const moveit_msgs::msg::MotionPlanRequest& plan_request)
@@ -915,4 +915,4 @@ MotionPlanCache::extractAndAppendGoalToMetadata(
 #undef NEXUS_MATCH_RANGE
 
 }  // namespace motion_planner
-}  // namespace nexus
+}  // namespace nexus
diff --git a/nexus_motion_planner/src/motion_plan_cache.hpp b/nexus_motion_planner/src/motion_plan_cache.hpp
@@ -74,7 +74,7 @@ class MotionPlanCache
       moveit_msgs::msg::RobotTrajectory
     >::ConstPtr
   >
-  fetchAllMatchingPlans(
+  fetch_all_matching_plans(
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const std::string& move_group_namespace,
     const moveit_msgs::msg::MotionPlanRequest& plan_request,
@@ -83,13 +83,13 @@ class MotionPlanCache
   warehouse_ros::MessageWithMetadata<
     moveit_msgs::msg::RobotTrajectory
   >::ConstPtr
-  fetchBestMatchingPlan(
+  fetch_best_matching_plan(
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const std::string& move_group_namespace,
     const moveit_msgs::msg::MotionPlanRequest& plan_request,
     double start_tolerance, double goal_tolerance, bool metadata_only = false);
 
-  bool putPlan(
+  bool put_plan(
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const std::string& move_group_namespace,
     const moveit_msgs::msg::MotionPlanRequest& plan_request,
@@ -98,25 +98,25 @@ class MotionPlanCache
     bool overwrite = true);
 
   // QUERY CONSTRUCTION ========================================================
-  bool extractAndAppendStartToQuery(
+  bool extract_and_append_start_to_query(
     warehouse_ros::Query& query,
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const moveit_msgs::msg::MotionPlanRequest& plan_request,
     double match_tolerance);
 
-  bool extractAndAppendGoalToQuery(
+  bool extract_and_append_goal_to_query(
     warehouse_ros::Query& query,
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const moveit_msgs::msg::MotionPlanRequest& plan_request,
     double match_tolerance);
 
   // METADATA CONSTRUCTION =====================================================
-  bool extractAndAppendStartToMetadata(
+  bool extract_and_append_start_to_metadata(
     warehouse_ros::Metadata& metadata,
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const moveit_msgs::msg::MotionPlanRequest& plan_request);
 
-  bool extractAndAppendGoalToMetadata(
+  bool extract_and_append_goal_to_metadata(
     warehouse_ros::Metadata& metadata,
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const moveit_msgs::msg::MotionPlanRequest& plan_request);

diff --git a/nexus_motion_planner/src/motion_planner_server.cpp b/nexus_motion_planner/src/motion_planner_server.cpp
@@ -639,7 +639,7 @@ void MotionPlannerServer::plan_with_move_group(
     }
     else
     {
-      auto fetched_plan = _motion_plan_cache->fetchBestMatchingPlan(
+      auto fetched_plan = _motion_plan_cache->fetch_best_matching_plan(
         *interface, robot_name, plan_req_msg,
         _cache_start_match_tolerance, _cache_goal_match_tolerance);
       if (fetched_plan)
@@ -677,7 +677,7 @@ void MotionPlannerServer::plan_with_move_group(
 
     if (_use_motion_plan_cache && !req.cartesian)
     {
-      bool plan_put_ok = _motion_plan_cache->putPlan(
+      bool plan_put_ok = _motion_plan_cache->put_plan(
         *interface, robot_name,
         std::move(plan_req_msg), std::move(res->result.trajectory),
         (exec_end - exec_start).seconds(), true);