{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial-consortium/descartes/pulls/comments/24218534","id":24218534,"diff_hunk":"@@ -0,0 +1,53 @@\n+/*\n+ * path_planner_base.h\n+ *\n+ *  Created on: Jan 19, 2015\n+ *      Author: ros developer \n+ */\n+\n+#ifndef DESCARTES_CORE_PATH_PLANNER_BASE_H_\n+#define DESCARTES_CORE_PATH_PLANNER_BASE_H_\n+\n+#include <descartes_core/trajectory_pt.h>\n+#include <descartes_core/robot_model.h>\n+#include <vector>\n+\n+namespace descartes_core\n+{\n+\n+class PathPlannerBase\n+{\n+public:\n+  virtual ~PathPlannerBase(){}\n+\n+  /**\n+   * @brief Plans a path for the given robot model through the points in the input trajectory.\n+   * @param model robot model implementation for which to plan a path\n+   * @param sampling This value will be interpreted differently by each planner specialization.","path":"descartes_core/include/descartes_core/path_planner_base.h","position":26,"original_position":26,"commit_id":"171486c0cb168333dce3aaa3da8e9e335d0cfdd3","original_commit_id":"171486c0cb168333dce3aaa3da8e9e335d0cfdd3","user":{"login":"shaun-edwards","id":2932571,"avatar_url":"https://avatars.githubusercontent.com/u/2932571?v=3","gravatar_id":"","url":"https://api.github.com/users/shaun-edwards","html_url":"https://github.com/shaun-edwards","followers_url":"https://api.github.com/users/shaun-edwards/followers","following_url":"https://api.github.com/users/shaun-edwards/following{/other_user}","gists_url":"https://api.github.com/users/shaun-edwards/gists{/gist_id}","starred_url":"https://api.github.com/users/shaun-edwards/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/shaun-edwards/subscriptions","organizations_url":"https://api.github.com/users/shaun-edwards/orgs","repos_url":"https://api.github.com/users/shaun-edwards/repos","events_url":"https://api.github.com/users/shaun-edwards/events{/privacy}","received_events_url":"https://api.github.com/users/shaun-edwards/received_events","type":"User","site_admin":false},"body":"I seem to remember OMPL being done this way...sounds like it will work.","created_at":"2015-02-06T02:13:34Z","updated_at":"2015-02-06T02:13:34Z","html_url":"https://github.com/ros-industrial-consortium/descartes/pull/49#discussion_r24218534","pull_request_url":"https://api.github.com/repos/ros-industrial-consortium/descartes/pulls/49","_links":{"self":{"href":"https://api.github.com/repos/ros-industrial-consortium/descartes/pulls/comments/24218534"},"html":{"href":"https://github.com/ros-industrial-consortium/descartes/pull/49#discussion_r24218534"},"pull_request":{"href":"https://api.github.com/repos/ros-industrial-consortium/descartes/pulls/49"}}},"pull_request":{"url":"https://api.github.com/repos/ros-industrial-consortium/descartes/pulls/49","id":27962632,"html_url":"https://github.com/ros-industrial-consortium/descartes/pull/49","diff_url":"https://github.com/ros-industrial-consortium/descartes/pull/49.diff","patch_url":"https://github.com/ros-industrial-consortium/descartes/pull/49.patch","issue_url":"https://api.github.com/repos/ros-industrial-consortium/descartes/issues/49","number":49,"state":"open","locked":false,"title":"Issue #46 package rearrangement","user":{"login":"jrgnicho","id":3279718,"avatar_url":"https://avatars.githubusercontent.com/u/3279718?v=3","gravatar_id":"","url":"https://api.github.com/users/jrgnicho","html_url":"https://github.com/jrgnicho","followers_url":"https://api.github.com/users/jrgnicho/followers","following_url":"https://api.github.com/users/jrgnicho/following{/other_user}","gists_url":"https://api.github.com/users/jrgnicho/gists{/gist_id}","starred_url":"https://api.github.com/users/jrgnicho/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jrgnicho/subscriptions","organizations_url":"https://api.github.com/users/jrgnicho/orgs","repos_url":"https://api.github.com/users/jrgnicho/repos","events_url":"https://api.github.com/users/jrgnicho/events{/privacy}","received_events_url":"https://api.github.com/users/jrgnicho/received_events","type":"User","site_admin":false},"body":"This PR addresses the following:\r\n-The most important change in this PR is that  the class implementations of the various interfaces have been moved into their own packages.  This will partially address issue #46.\r\n- Added initialize(..) method to the RobotModel class in order to use it whenever one of its implementations is instantiated through a plugin.  The proper signature for this method may need some discussion.\r\n- Created a descartes_core::RobotModel plugin from the descartes_moveit::MoveitStateAdaptor class.\r\n- Started the descartes_core::PathPlannerBase interface which will be used to implement current and future path planner classes.  The final form of this interface will need some discussion as well.  Once the planner interface is finalized then the PlannerGraph and SparsePlanner should be modified in order to inherit from this 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