STOMP - MotionPlanDetailedResponse

[Shobuj-Paul]

Description

Attempt to implement the MotionPlanDetailedResponse function for the STOMP solver. Currently, I have implemented it similarly to CHOMP, which means there's only one element in the trajectories vector which is the solution of the MotionPlanResponse STOMP solver. This can be instead changed for the following implementations:

• Contain all the probabilistic trajectories generated while planning with STOMP, and res.trajectory.back() would contain the final optimized solution.
• Contain non-overlapping solutions for different seed trajectories.

EDIT:
As per #1708 since MotionPlanDetailedResponse is intended for debugging purposes, appending intermediate generated trajectories from STOMP seems like the way to go.

Fixes #2168

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials/documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 46 lines in your changes are missing coverage. Please review.

Project coverage is 42.59%. Comparing base (d962501) to head (8aedb64).
Report is 33 commits behind head on main.

Files	Patch %	Lines
...anners/stomp/src/stomp_moveit_planning_context.cpp	0.00%	46 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2704      +/-   ##
==========================================
- Coverage   50.74%   42.59%   -8.15%     
==========================================
  Files         392      692     +300     
  Lines       32553    56369   +23816     
  Branches        0     7277    +7277     
==========================================
+ Hits        16517    24005    +7488     
- Misses      16036    32203   +16167     
- Partials        0      161     +161     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[Shobuj-Paul]

This current implementation runs n(n+1)/2 iterations in total. I am open to suggestions on how to store trajectories in between running stomp->solve.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.