Rename overwrite to delete_worse_plans

Signed-off-by: methylDragon <[email protected]>
osrf · Nov 20, 2023 · f5713a1 · f5713a1
1 parent 06cdcf9
commit f5713a1
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Showing 2 changed files with 7 additions and 8 deletions.
diff --git a/nexus_motion_planner/src/motion_plan_cache.cpp b/nexus_motion_planner/src/motion_plan_cache.cpp
@@ -134,7 +134,7 @@ MotionPlanCache::put_plan(
   const std::string& move_group_namespace,
   const moveit_msgs::msg::MotionPlanRequest& plan_request,
   const moveit_msgs::msg::RobotTrajectory& plan,
-  double execution_time_s, double planning_time_s, bool overwrite)
+  double execution_time_s, double planning_time_s, bool delete_worse_plans)
 {
   // Check pre-conditions
   if (!plan.multi_dof_joint_trajectory.points.empty())
@@ -190,8 +190,7 @@ MotionPlanCache::put_plan(
   {
     best_execution_time = exact_matches.at(0)->lookupDouble("execution_time_s");
 
-    // Delete "worse" plans if overwrite requested.
-    if (overwrite)
+    if (delete_worse_plans)
     {
       for (auto& match : exact_matches)
       {
@@ -1020,7 +1019,7 @@ MotionPlanCache::put_cartesian_plan(
   double execution_time_s,
   double planning_time_s,
   double fraction,
-  bool overwrite)
+  bool delete_worse_plans)
 {
   // Check pre-conditions
   if (!plan.multi_dof_joint_trajectory.points.empty())
@@ -1068,8 +1067,7 @@ MotionPlanCache::put_cartesian_plan(
   {
     best_execution_time = exact_matches.at(0)->lookupDouble("execution_time_s");
 
-    // Delete "worse" plans if overwrite requested.
-    if (overwrite)
+    if (delete_worse_plans)
     {
       for (auto& match : exact_matches)
       {

diff --git a/nexus_motion_planner/src/motion_plan_cache.hpp b/nexus_motion_planner/src/motion_plan_cache.hpp
@@ -128,14 +128,15 @@ class MotionPlanCache
     bool metadata_only = false,
     const std::string& sort_by = "execution_time_s");
 
+  // Put a plan into the database if it is the best plan seen so far.
   bool put_plan(
     const moveit::planning_interface::MoveGroupInterface& move_group,
     const std::string& move_group_namespace,
     const moveit_msgs::msg::MotionPlanRequest& plan_request,
     const moveit_msgs::msg::RobotTrajectory& plan,
     double execution_time_s,
     double planning_time_s,
-    bool overwrite = true);
+    bool delete_worse_plans = true);
 
   // QUERY CONSTRUCTION
   bool extract_and_append_plan_start_to_query(
@@ -217,7 +218,7 @@ class MotionPlanCache
     double execution_time_s,
     double planning_time_s,
     double fraction,
-    bool overwrite = true);
+    bool delete_worse_plans = true);
 
   // QUERY CONSTRUCTION
   bool extract_and_append_cartesian_plan_start_to_query(