Move from string-based links and joints to id-based logic (using hashes)

.github/workflows/cmake_format.yml

@@ -19,4 +19,5 @@ jobs:
           sudo pip3 install cmakelang
           ./.run-cmake-format
           output=$(git diff)
+          echo "$output"
           if [ -n "$output" ]; then exit 1; else exit 0; fi

command_language/CMakeLists.txt

@@ -35,7 +35,8 @@ target_link_libraries(
          cereal::cereal)
 target_compile_options(command_language PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
 target_compile_options(command_language PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(command_language PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
+target_compile_definitions(command_language PRIVATE ${TESSERACT_COMPILE_DEFINITIONS_PRIVATE})
+target_compile_definitions(command_language PUBLIC ${TESSERACT_COMPILE_DEFINITIONS_PUBLIC})
 target_clang_tidy(command_language ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(command_language PUBLIC VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(

command_language/include/tesseract/command_language/cereal_serialization.h

@@ -21,6 +21,7 @@
 #include <tesseract/common/cereal_serialization.h>
 
 #include <cereal/cereal.hpp>
+#include <cereal/specialize.hpp>
 #include <cereal/types/memory.hpp>
 #include <cereal/types/unordered_map.hpp>
 #include <cereal/types/polymorphic.hpp>
@@ -113,7 +114,9 @@ void serialize(Archive& ar, JointWaypoint& obj)
 {
   ar(cereal::base_class<JointWaypointInterface>(&obj));
   ar(cereal::make_nvp("name", obj.name_));
-  ar(cereal::make_nvp("names", obj.names_));
+  // Keep the "names" archive key though the field is joint_ids_: a JointId serializes as its name
+  // string (see save_minimal), so the on-disk key stays stable and portable across builds.
+  ar(cereal::make_nvp("names", obj.joint_ids_));
   ar(cereal::make_nvp("position", obj.position_));
   ar(cereal::make_nvp("upper_tolerance", obj.upper_tolerance_));
   ar(cereal::make_nvp("lower_tolerance", obj.lower_tolerance_));
@@ -125,7 +128,9 @@ void serialize(Archive& ar, StateWaypoint& obj)
 {
   ar(cereal::base_class<StateWaypointInterface>(&obj));
   ar(cereal::make_nvp("name", obj.name_));
-  ar(cereal::make_nvp("joint_names", obj.joint_names_));
+  // Keep the "joint_names" archive key though the field is joint_ids_: a JointId serializes as its
+  // name string (see save_minimal), so the on-disk key stays stable and portable across builds.
+  ar(cereal::make_nvp("joint_names", obj.joint_ids_));
   ar(cereal::make_nvp("position", obj.position_));
   ar(cereal::make_nvp("velocity", obj.velocity_));
   ar(cereal::make_nvp("acceleration", obj.acceleration_));

command_language/include/tesseract/command_language/joint_waypoint.h

@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract/command_language/poly/joint_waypoint_poly.h>
+#include <tesseract/common/types.h>
 
 namespace tesseract::command_language
 {
@@ -47,15 +48,18 @@ class JointWaypoint final : public JointWaypointInterface
   // LCOV_EXCL_STOP
 
   JointWaypoint() = default;
-  JointWaypoint(std::vector<std::string> names, const Eigen::VectorXd& position, bool is_constrained = true);
-  JointWaypoint(std::vector<std::string> names,
-                const Eigen::VectorXd& position,
-                const Eigen::VectorXd& lower_tol,
-                const Eigen::VectorXd& upper_tol);
-  JointWaypoint(std::initializer_list<std::string> names,
+
+  JointWaypoint(std::vector<tesseract::common::JointId> joint_ids,
+                Eigen::VectorXd position,
+                bool is_constrained = true);
+  JointWaypoint(std::vector<tesseract::common::JointId> joint_ids,
+                Eigen::VectorXd position,
+                Eigen::VectorXd lower_tol,
+                Eigen::VectorXd upper_tol);
+  JointWaypoint(std::vector<tesseract::common::JointId> joint_ids,
                 std::initializer_list<double> position,
                 bool is_constrained = true);
-  JointWaypoint(std::initializer_list<std::string> names,
+  JointWaypoint(std::vector<tesseract::common::JointId> joint_ids,
                 std::initializer_list<double> position,
                 std::initializer_list<double> lower_tol,
                 std::initializer_list<double> upper_tol);
@@ -66,9 +70,9 @@ class JointWaypoint final : public JointWaypointInterface
   void print(const std::string& prefix = "") const override final;
 
   // Joint Waypoint
-  void setNames(const std::vector<std::string>& names) override final;
-  std::vector<std::string>& getNames() override final;
-  const std::vector<std::string>& getNames() const override final;
+  void setJointIds(const std::vector<tesseract::common::JointId>& ids) override final;
+  const std::vector<tesseract::common::JointId>& getJointIds() const override final;
+  std::vector<tesseract::common::JointId>& getJointIds() override final;
 
   void setPosition(const Eigen::VectorXd& position) override final;
   Eigen::VectorXd& getPosition() override final;
@@ -90,8 +94,8 @@ class JointWaypoint final : public JointWaypointInterface
 private:
   /** @brief The name of the waypoint */
   std::string name_;
-  /** @brief The names of the joints */
-  std::vector<std::string> names_;
+  /** @brief The joint IDs */
+  std::vector<tesseract::common::JointId> joint_ids_;
   /** @brief The position of the joints */
   Eigen::VectorXd position_;
   /** @brief Joint distance below position that is allowed. Each element should be <= 0 */

command_language/include/tesseract/command_language/poly/joint_waypoint_poly.h

@@ -31,6 +31,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract/common/types.h>
+
 #include <tesseract/command_language/poly/waypoint_poly.h>
 #include <tesseract/common/fwd.h>
 
@@ -86,16 +88,16 @@ class JointWaypointInterface
   /////////////////
 
   /**
-   * @brief Set the joint names
-   * @param names The joint names
+   * @brief Set the joint IDs
+   * @param ids The joint IDs
    */
-  virtual void setNames(const std::vector<std::string>& names) = 0;
+  virtual void setJointIds(const std::vector<tesseract::common::JointId>& ids) = 0;
   /**
-   * @brief Get the joint names
-   * @return The joint names
+   * @brief Get the joint IDs
+   * @return The joint IDs
    */
-  virtual std::vector<std::string>& getNames() = 0;
-  virtual const std::vector<std::string>& getNames() const = 0;
+  virtual const std::vector<tesseract::common::JointId>& getJointIds() const = 0;
+  virtual std::vector<tesseract::common::JointId>& getJointIds() = 0;
 
   /**
    * @brief Set the joint positions
@@ -199,16 +201,16 @@ class JointWaypointPoly final : public WaypointInterface
   /////////////////
 
   /**
-   * @brief Set the joint names
-   * @param names The joint names
+   * @brief Set the joint IDs
+   * @param ids The joint IDs
    */
-  void setNames(const std::vector<std::string>& names);
+  void setJointIds(const std::vector<tesseract::common::JointId>& ids);
   /**
-   * @brief Get the joint names
-   * @return The joint names
+   * @brief Get the joint IDs
+   * @return The joint IDs
    */
-  std::vector<std::string>& getNames();
-  const std::vector<std::string>& getNames() const;
+  const std::vector<tesseract::common::JointId>& getJointIds() const;
+  std::vector<tesseract::common::JointId>& getJointIds();
 
   /**
    * @brief Set the joint positions

command_language/include/tesseract/command_language/poly/state_waypoint_poly.h

@@ -29,6 +29,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract/common/types.h>
+
 #include <tesseract/command_language/poly/waypoint_poly.h>
 #include <tesseract/common/fwd.h>
 
@@ -84,16 +86,16 @@ class StateWaypointInterface
   /////////////////
 
   /**
-   * @brief Set the joint names
-   * @param names The joint names
+   * @brief Set the joint IDs
+   * @param ids The joint IDs
    */
-  virtual void setNames(const std::vector<std::string>& names) = 0;
+  virtual void setJointIds(const std::vector<tesseract::common::JointId>& ids) = 0;
   /**
-   * @brief Get the joint names
-   * @return The joint names
+   * @brief Get the joint IDs
+   * @return The joint IDs
    */
-  virtual std::vector<std::string>& getNames() = 0;
-  virtual const std::vector<std::string>& getNames() const = 0;
+  virtual const std::vector<tesseract::common::JointId>& getJointIds() const = 0;
+  virtual std::vector<tesseract::common::JointId>& getJointIds() = 0;
 
   /**
    * @brief Set the joint positions
@@ -210,16 +212,16 @@ class StateWaypointPoly final : public WaypointInterface
   /////////////////
 
   /**
-   * @brief Set the joint names
-   * @param names The joint names
+   * @brief Set the joint IDs
+   * @param ids The joint IDs
    */
-  void setNames(const std::vector<std::string>& names);
+  void setJointIds(const std::vector<tesseract::common::JointId>& ids);
   /**
-   * @brief Get the joint names
-   * @return The joint names
+   * @brief Get the joint IDs
+   * @return The joint IDs
    */
-  std::vector<std::string>& getNames();
-  const std::vector<std::string>& getNames() const;
+  const std::vector<tesseract::common::JointId>& getJointIds() const;
+  std::vector<tesseract::common::JointId>& getJointIds();
 
   /**
    * @brief Set the joint positions

command_language/include/tesseract/command_language/state_waypoint.h

@@ -31,6 +31,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract/command_language/poly/state_waypoint_poly.h>
+#include <tesseract/common/types.h>
 
 namespace tesseract::command_language
 {
@@ -47,15 +48,16 @@ class StateWaypoint final : public StateWaypointInterface
   // LCOV_EXCL_STOP
 
   StateWaypoint() = default;
-  StateWaypoint(std::vector<std::string> joint_names, const Eigen::Ref<const Eigen::VectorXd>& position);
-  StateWaypoint(const std::vector<std::string>& names,
-                const Eigen::VectorXd& position,
-                const Eigen::VectorXd& velocity,
-                const Eigen::VectorXd& acceleration,
+
+  StateWaypoint(std::vector<tesseract::common::JointId> joint_ids, const Eigen::Ref<const Eigen::VectorXd>& position);
+  StateWaypoint(std::vector<tesseract::common::JointId> joint_ids,
+                Eigen::VectorXd position,
+                Eigen::VectorXd velocity,
+                Eigen::VectorXd acceleration,
                 double time);
 
-  StateWaypoint(std::initializer_list<std::string> names, std::initializer_list<double> position);
-  StateWaypoint(std::initializer_list<std::string> names,
+  StateWaypoint(std::vector<tesseract::common::JointId> joint_ids, std::initializer_list<double> position);
+  StateWaypoint(std::vector<tesseract::common::JointId> joint_ids,
                 std::initializer_list<double> position,
                 std::initializer_list<double> velocity,
                 std::initializer_list<double> acceleration,
@@ -67,9 +69,9 @@ class StateWaypoint final : public StateWaypointInterface
   void print(const std::string& prefix = "") const override final;
 
   // State Waypoint
-  void setNames(const std::vector<std::string>& names) override final;
-  std::vector<std::string>& getNames() override final;
-  const std::vector<std::string>& getNames() const override final;
+  void setJointIds(const std::vector<tesseract::common::JointId>& ids) override final;
+  const std::vector<tesseract::common::JointId>& getJointIds() const override final;
+  std::vector<tesseract::common::JointId>& getJointIds() override final;
 
   void setPosition(const Eigen::VectorXd& position) override final;
   Eigen::VectorXd& getPosition() override final;
@@ -95,8 +97,8 @@ class StateWaypoint final : public StateWaypointInterface
 private:
   /** @brief The name of the waypoint */
   std::string name_;
-  /** @brief The joint corresponding to the position vector. */
-  std::vector<std::string> joint_names_;
+  /** @brief The joint IDs */
+  std::vector<tesseract::common::JointId> joint_ids_;
   /** @brief The joint position at the waypoint */
   Eigen::VectorXd position_;
   /** @brief The velocity at the waypoint (optional) */

command_language/include/tesseract/command_language/test_suite/cartesian_waypoint_poly_unit.hpp

@@ -202,7 +202,7 @@ void runCartesianWaypointTest()
 
   {  // Set/Get Seed
     tesseract::common::JointState seed_state;
-    seed_state.joint_names = { "joint_1", "joint_2", "joint_3" };
+    seed_state.joint_ids = { "joint_1", "joint_2", "joint_3" };
     seed_state.position.resize(3);
     seed_state.position << .01, .02, .03;
     seed_state.velocity.resize(3);

command_language/include/tesseract/command_language/test_suite/joint_waypoint_poly_unit.hpp

@@ -55,53 +55,53 @@ void runJointWaypointTest()
   {  // Test construction
     {
       JointWaypointPoly wp{ T() };
-      EXPECT_TRUE(wp.getNames().empty());
+      EXPECT_TRUE(wp.getJointIds().empty());
       EXPECT_TRUE(wp.getPosition().rows() == 0);
       EXPECT_TRUE(std::as_const(wp).getUpperTolerance().rows() == 0);
       EXPECT_TRUE(std::as_const(wp).getLowerTolerance().rows() == 0);
       EXPECT_FALSE(wp.isConstrained());
     }
     {
-      std::vector<std::string> names{ "j1", "j2", "j3" };
+      std::vector<tesseract::common::JointId> names{ "j1", "j2", "j3" };
       Eigen::VectorXd positions = Eigen::VectorXd::Constant(3, 0.0);
       JointWaypointPoly wp{ T(names, positions) };
-      EXPECT_EQ(wp.getNames(), names);
+      EXPECT_EQ(wp.getJointIds(), names);
       EXPECT_TRUE(wp.getPosition().isApprox(positions));
       EXPECT_TRUE(std::as_const(wp).getUpperTolerance().rows() == 0);
       EXPECT_TRUE(std::as_const(wp).getLowerTolerance().rows() == 0);
       EXPECT_TRUE(wp.isConstrained());
     }
     {
-      std::vector<std::string> names{ "j1", "j2", "j3" };
+      std::vector<tesseract::common::JointId> names{ "j1", "j2", "j3" };
       Eigen::VectorXd positions = Eigen::VectorXd::Constant(3, 0.0);
       Eigen::VectorXd lower_tol = Eigen::VectorXd::Constant(3, -5);
       Eigen::VectorXd uppert_tol = Eigen::VectorXd::Constant(3, 5);
       JointWaypointPoly wp{ T(names, positions, lower_tol, uppert_tol) };
-      EXPECT_EQ(wp.getNames(), names);
+      EXPECT_EQ(wp.getJointIds(), names);
       EXPECT_TRUE(wp.getPosition().isApprox(positions));
       EXPECT_TRUE(wp.getLowerTolerance().isApprox(lower_tol));
       EXPECT_TRUE(wp.getUpperTolerance().isApprox(uppert_tol));
       EXPECT_TRUE(wp.isConstrained());
     }
     {
-      std::vector<std::string> names{ "j1", "j2" };
+      std::vector<tesseract::common::JointId> names{ "j1", "j2" };
       Eigen::VectorXd positions = Eigen::VectorXd::Constant(3, 0.0);
       EXPECT_ANY_THROW(JointWaypointPoly{ T(names, positions) });  // NOLINT
     }
     {
-      std::vector<std::string> names{ "j1", "j2", "j3" };
+      std::vector<tesseract::common::JointId> names{ "j1", "j2", "j3" };
       Eigen::VectorXd positions = Eigen::VectorXd::Constant(2, 0.0);
       EXPECT_ANY_THROW(JointWaypointPoly{ T(names, positions) });  // NOLINT
     }
     {
-      std::vector<std::string> names{ "j1", "j2", "j3" };
+      std::vector<tesseract::common::JointId> names{ "j1", "j2", "j3" };
       Eigen::VectorXd positions = Eigen::VectorXd::Constant(3, 0.0);
       Eigen::VectorXd lower_tol = Eigen::VectorXd::Constant(2, -5);
       Eigen::VectorXd uppert_tol = Eigen::VectorXd::Constant(3, 5);
       EXPECT_ANY_THROW(JointWaypointPoly{ T(names, positions, lower_tol, uppert_tol) });  // NOLINT
     }
     {
-      std::vector<std::string> names{ "j1", "j2", "j3" };
+      std::vector<tesseract::common::JointId> names{ "j1", "j2", "j3" };
       Eigen::VectorXd positions = Eigen::VectorXd::Constant(3, 0.0);
       Eigen::VectorXd lower_tol = Eigen::VectorXd::Constant(3, -5);
       Eigen::VectorXd uppert_tol = Eigen::VectorXd::Constant(2, 5);
@@ -117,17 +117,17 @@ void runJointWaypointTest()
   }
 
   {  // Set/Get Names
-    const std::vector<std::string> names{ "j1", "j2", "j3" };
+    const std::vector<tesseract::common::JointId> names{ "j1", "j2", "j3" };
     {  // Test set
       JointWaypointPoly wp{ T() };
-      wp.setNames(names);
-      EXPECT_TRUE(wp.getNames() == names);
+      wp.setJointIds(names);
+      EXPECT_TRUE(wp.getJointIds() == names);
     }
 
     {  // Test assigning
       JointWaypointPoly wp{ T() };
-      wp.getNames() = names;
-      EXPECT_TRUE(std::as_const(wp).getNames() == names);
+      wp.getJointIds() = names;
+      EXPECT_TRUE(std::as_const(wp).getJointIds() == names);
     }
   }
 
@@ -193,7 +193,7 @@ void runJointWaypointTest()
       runWaypointSerializationTest(wp1);
     }
     {
-      std::vector<std::string> names{ "j1", "j2", "j3" };
+      std::vector<tesseract::common::JointId> names{ "j1", "j2", "j3" };
       Eigen::VectorXd positions, upper_tol, lower_tol;
       positions.resize(3);
       upper_tol.resize(3);
@@ -214,7 +214,7 @@ void runJointWaypointTest()
     // Not equal
     {
       JointWaypointPoly wp1{ T({ "j1", "j2", "j3" }, { 0, 0, 0 }) };
-      JointWaypointPoly wp2{ T(std::vector<std::string>({ "j1" }), Eigen::VectorXd::Zero(1)) };
+      JointWaypointPoly wp2{ T(std::vector<tesseract::common::JointId>({ "j1" }), Eigen::VectorXd::Zero(1)) };
       EXPECT_TRUE(wp1.isConstrained());
       EXPECT_TRUE(wp2.isConstrained());
       EXPECT_FALSE(wp1 == wp2);