{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/comments/33533720","id":33533720,"diff_hunk":"@@ -0,0 +1,576 @@\n+#include \"hamilton/hybrid_planner.h\"\n+\n+//TODO namespace\n+//TODO bools aren't returning anything!\n+namespace hamilton\n+{\n+\t\n+\tHybridPlanner::~HybridPlanner()\n+\t{\n+\t\tmoveit_group_ptr_.reset();\n+\t\tkinematic_state_.reset();\n+\t\t//TODO Descartes\n+\t}\n+\n+\tvoid HybridPlanner::init()\n+\t{\n+\t\t// Instantiating a robot model\n+\t\tdescartes_robot_model_ptr_.reset(new descartes_moveit::MoveitStateAdapter);\n+\t\t// TOCHECK as compared to: \n+\t\t//descartes_core::RobotModelPtr model(new descartes_moveit::MoveitStateAdapter);\n+\t\t//TOCHECK or as in Godel\n+\t\t// init descartes with kinematic_state_ ? \n+\t\t//   descartes_core::RobotModelPtr createRobotModel(const moveit::core::RobotStatePtr robot_state,\n+                                                 // const std::string& group_name,\n+                                                 // const std::string& tool_frame,\n+                                                 // const std::string& world_frame,\n+                                                 // uint8_t iterations)\n+\t\tif(descartes_robot_model_ptr_->initialize(ROBOT_DESCRIPTION_PARAM,\n+\t\t                              config_.group_name,\n+\t\t                              config_.world_frame,\n+\t\t                              config_.tip_link))\n+\t\t{\n+\t\tROS_INFO_STREAM(\"Descartes Robot Model initialized\");\n+\t\t}\n+\t\telse\n+\t\t{\n+\t\tROS_ERROR_STREAM(\"Failed to initialize Robot Model\");\n+\t\texit(-1);\n+\t\t}\n+\n+\t\t// TODO add planner type as config parameter?\n+\t\tbool succeeded_dense = dense_planner_.initialize(descartes_robot_model_ptr_);\n+\t\tif(succeeded_dense)\n+\t\t{\n+\t\tROS_INFO_STREAM(\"Descartes dense planner initialized\");\n+\t\t}\n+\t\telse\n+\t\t{\n+\t\tROS_ERROR_STREAM(\"Failed to initialize Descartes dense Planner\");\n+\t\texit(-1);\n+\t\t}  \n+\n+\t\tbool succeeded_sparse = sparse_planner_.initialize(descartes_robot_model_ptr_);\n+\t\tif(succeeded_sparse)\n+\t\t{\n+\t\tROS_INFO_STREAM(\"Descartes sparse planner initialized\");\n+\t\t}\n+\t\telse\n+\t\t{\n+\t\tROS_ERROR_STREAM(\"Failed to initialize Descartes sparse Planner\");\n+\t\texit(-1);\n+\t\t}\n+\n+\t\tROS_INFO_STREAM(\"Descartes members initialized\");\n+\n+\t\t// creates publisher for trajectory visualization\n+\t\tmarker_publisher_  = nh_.advertise<visualization_msgs::MarkerArray>(VISUALIZE_TRAJECTORY_TOPIC,1,true);\n+\n+\t\t//Initializes MoveIt!\n+\t\tmoveit_group_ptr_ = MoveGroupPtr(new moveit_group_interface::MoveGroup(config_.group_name));","path":"hamilton/src/hybrid_planner.cpp","position":70,"original_position":70,"commit_id":"4bb7514d2f9920de2a2488ea56bdbe4c48262146","original_commit_id":"4bb7514d2f9920de2a2488ea56bdbe4c48262146","user":{"login":"madratman","id":6305323,"avatar_url":"https://avatars.githubusercontent.com/u/6305323?v=3","gravatar_id":"","url":"https://api.github.com/users/madratman","html_url":"https://github.com/madratman","followers_url":"https://api.github.com/users/madratman/followers","following_url":"https://api.github.com/users/madratman/following{/other_user}","gists_url":"https://api.github.com/users/madratman/gists{/gist_id}","starred_url":"https://api.github.com/users/madratman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/madratman/subscriptions","organizations_url":"https://api.github.com/users/madratman/orgs","repos_url":"https://api.github.com/users/madratman/repos","events_url":"https://api.github.com/users/madratman/events{/privacy}","received_events_url":"https://api.github.com/users/madratman/received_events","type":"User","site_admin":false},"body":"I am not aware of other ways of doing that. What do you suggest?","created_at":"2015-06-30T01:44:32Z","updated_at":"2015-06-30T01:44:32Z","html_url":"https://github.com/ros-industrial-consortium/hamilton/pull/1#discussion_r33533720","pull_request_url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/1","_links":{"self":{"href":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/comments/33533720"},"html":{"href":"https://github.com/ros-industrial-consortium/hamilton/pull/1#discussion_r33533720"},"pull_request":{"href":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/1"}}},"pull_request":{"url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/1","id":38739833,"html_url":"https://github.com/ros-industrial-consortium/hamilton/pull/1","diff_url":"https://github.com/ros-industrial-consortium/hamilton/pull/1.diff","patch_url":"https://github.com/ros-industrial-consortium/hamilton/pull/1.patch","issue_url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/issues/1","number":1,"state":"open","locked":false,"title":"Bare bones Hamilton","user":{"login":"madratman","id":6305323,"avatar_url":"https://avatars.githubusercontent.com/u/6305323?v=3","gravatar_id":"","url":"https://api.github.com/users/madratman","html_url":"https://github.com/madratman","followers_url":"https://api.github.com/users/madratman/followers","following_url":"https://api.github.com/users/madratman/following{/other_user}","gists_url":"https://api.github.com/users/madratman/gists{/gist_id}","starred_url":"https://api.github.com/users/madratman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/madratman/subscriptions","organizations_url":"https://api.github.com/users/madratman/orgs","repos_url":"https://api.github.com/users/madratman/repos","events_url":"https://api.github.com/users/madratman/events{/privacy}","received_events_url":"https://api.github.com/users/madratman/received_events","type":"User","site_admin":false},"body":"Mid-term code review request before demo app. \r\nPlease also look for `TODO` or `TOCHECK` flags. \r\n","created_at":"2015-06-29T03:50:17Z","updated_at":"2015-06-30T01:44:32Z","closed_at":null,"merged_at":null,"merge_commit_sha":"d8eba41df981787fa7476a548ef3cd0f1011e966","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/1/commits","review_comments_url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/1/comments","review_comment_url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/issues/1/comments","statuses_url":"https://api.github.com/repos/ros-industrial-consortium/hamilton/statuses/4bb7514d2f9920de2a2488ea56bdbe4c48262146","head":{"label":"madratman:indigo-devel","ref":"indigo-devel","sha":"4bb7514d2f9920de2a2488ea56bdbe4c48262146","user":{"login":"madratman","id":6305323,"avatar_url":"https://avatars.githubusercontent.com/u/6305323?v=3","gravatar_id":"","url":"https://api.github.com/users/madratman","html_url":"https://github.com/madratman","followers_url":"https://api.github.com/users/madratman/followers","following_url":"https://api.github.com/users/madratman/following{/other_user}","gists_url":"https://api.github.com/users/madratman/gists{/gist_id}","starred_url":"https://api.github.com/users/madratman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/madratman/subscriptions","organizations_url":"https://api.github.com/users/madratman/orgs","repos_url":"https://api.github.com/users/madratman/repos","events_url":"https://api.github.com/users/madratman/events{/privacy}","received_events_url":"https://api.github.com/users/madratman/received_events","type":"User","site_admin":false},"repo":{"id":36703665,"name":"hamilton","full_name":"madratman/hamilton","owner":{"login":"madratman","id":6305323,"avatar_url":"https://avatars.githubusercontent.com/u/6305323?v=3","gravatar_id":"","url":"https://api.github.com/users/madratman","html_url":"https://github.com/madratman","followers_url":"https://api.github.com/users/madratman/followers","following_url":"https://api.github.com/users/madratman/following{/other_user}","gists_url":"https://api.github.com/users/madratman/gists{/gist_id}","starred_url":"https://api.github.com/users/madratman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/madratman/subscriptions","organizations_url":"https://api.github.com/users/madratman/orgs","repos_url":"https://api.github.com/users/madratman/repos","events_url":"https://api.github.com/users/madratman/events{/privacy}","received_events_url":"https://api.github.com/users/madratman/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/madratman/hamilton","description":"","fork":true,"url":"https://api.github.com/repos/madratman/hamilton","forks_url":"https://api.github.com/repos/madratman/hamilton/forks","keys_url":"https://api.github.com/repos/madratman/hamilton/keys{/key_id}","collaborators_url":"https://api.github.com/repos/madratman/hamilton/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/madratman/hamilton/teams","hooks_url":"https://api.github.com/repos/madratman/hamilton/hooks","issue_events_url":"https://api.github.com/repos/madratman/hamilton/issues/events{/number}","events_url":"https://api.github.com/repos/madratman/hamilton/events","assignees_url":"https://api.github.com/repos/madratman/hamilton/assignees{/user}","branches_url":"https://api.github.com/repos/madratman/hamilton/branches{/branch}","tags_url":"https://api.github.com/repos/madratman/hamilton/tags","blobs_url":"https://api.github.com/repos/madratman/hamilton/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/madratman/hamilton/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/madratman/hamilton/git/refs{/sha}","trees_url":"https://api.github.com/repos/madratman/hamilton/git/trees{/sha}","statuses_url":"https://api.github.com/repos/madratman/hamilton/statuses/{sha}","languages_url":"https://api.github.com/repos/madratman/hamilton/languages","stargazers_url":"https://api.github.com/repos/madratman/hamilton/stargazers","contributors_url":"https://api.github.com/repos/madratman/hamilton/contributors","subscribers_url":"https://api.github.com/repos/madratman/hamilton/subscribers","subscription_url":"https://api.github.com/repos/madratman/hamilton/subscription","commits_url":"https://api.github.com/repos/madratman/hamilton/commits{/sha}","git_commits_url":"https://api.github.com/repos/madratman/hamilton/git/commits{/sha}","comments_url":"https://api.github.com/repos/madratman/hamilton/comments{/number}","issue_comment_url":"https://api.github.com/repos/madratman/hamilton/issues/comments{/number}","contents_url":"https://api.github.com/repos/madratman/hamilton/contents/{+path}","compare_url":"https://api.github.com/repos/madratman/hamilton/compare/{base}...{head}","merges_url":"https://api.github.com/repos/madratman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