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CostTerms: joint-weighted costs, expose to python #409

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merged 5 commits into from
Dec 11, 2022
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@rhaschke rhaschke commented Dec 9, 2022

This implements joint-specific weighting of PathLength and DistanceToReference (new) costs.
Also expose cost stuff to python.

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rhaschke commented Dec 9, 2022

Hm. The segfaulting tests seem to stem from pybind11 issues in a Debug build: pybind/pybind11#4395

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codecov bot commented Dec 11, 2022

Codecov Report

Base: 59.03% // Head: 58.97% // Decreases project coverage by -0.07% ⚠️

Coverage data is based on head (8faf416) compared to base (de22cba).
Patch coverage: 39.03% of modified lines in pull request are covered.

❗ Current head 8faf416 differs from pull request most recent head 7c35f6c. Consider uploading reports for the commit 7c35f6c to get more accurate results

Additional details and impacted files
@@            Coverage Diff             @@
##           master     #409      +/-   ##
==========================================
- Coverage   59.03%   58.97%   -0.06%     
==========================================
  Files          94       94              
  Lines        8322     8436     +114     
==========================================
+ Hits         4912     4974      +62     
- Misses       3410     3462      +52     
Impacted Files Coverage Δ
core/include/moveit/task_constructor/task.h 25.00% <ø> (ø)
core/src/cost_terms.cpp 24.12% <4.17%> (-8.69%) ⬇️
core/python/bindings/src/core.cpp 87.88% <87.50%> (-0.32%) ⬇️
core/include/moveit/task_constructor/cost_terms.h 85.72% <100.00%> (-14.28%) ⬇️
core/python/bindings/src/core.h 54.17% <100.00%> (-9.46%) ⬇️
core/python/bindings/src/solvers.cpp 93.11% <0.00%> (-2.89%) ⬇️
core/include/moveit/task_constructor/cost_queue.h 97.68% <0.00%> (-2.32%) ⬇️
core/include/moveit/task_constructor/storage.h 86.96% <0.00%> (-0.95%) ⬇️
... and 9 more

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@rhaschke rhaschke force-pushed the cost-terms branch 2 times, most recently from 8faf416 to 7c35f6c Compare December 11, 2022 20:36
@rhaschke rhaschke merged commit 26c690c into master Dec 11, 2022
@rhaschke rhaschke deleted the cost-terms branch January 4, 2023 22:10
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