planning_context_manager: rename protected methods

v4hn · v4hn · commit a183bc16f0b5 · 2022-04-01T13:51:15.000+02:00
the trailing 1 and 2 and bind() usage made this harder to parse than it has to be.

Technically this breaks API (the methods are protected, not private).
But if you are that far into the code base to inherit here and rely on the names
of these simple methods, you probably agree that this improves readability.
diff --git a/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h b/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
@@ -221,10 +221,9 @@ class PlanningContextManager
                                                   const StateSpaceFactoryTypeSelector& factory_selector,
                                                   const moveit_msgs::MotionPlanRequest& req) const;
 
-  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory1(const std::string& group_name,
-                                                              const std::string& factory_type) const;
-  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory2(const std::string& group_name,
-                                                              const moveit_msgs::MotionPlanRequest& req) const;
+  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory(const std::string& factory_type) const;
+  const ModelBasedStateSpaceFactoryPtr& getStateSpaceFactory(const std::string& group_name,
+                                                             const moveit_msgs::MotionPlanRequest& req) const;
 
   /** \brief The kinematic model for which motion plans are computed */
   moveit::core::RobotModelConstPtr robot_model_;
diff --git a/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp b/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
@@ -368,8 +368,7 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
 }
 
 const ompl_interface::ModelBasedStateSpaceFactoryPtr&
-ompl_interface::PlanningContextManager::getStateSpaceFactory1(const std::string& /* dummy */,
-                                                              const std::string& factory_type) const
+ompl_interface::PlanningContextManager::getStateSpaceFactory(const std::string& factory_type) const
 {
   auto f = factory_type.empty() ? state_space_factories_.begin() : state_space_factories_.find(factory_type);
   if (f != state_space_factories_.end())
@@ -383,8 +382,8 @@ ompl_interface::PlanningContextManager::getStateSpaceFactory1(const std::string&
 }
 
 const ompl_interface::ModelBasedStateSpaceFactoryPtr&
-ompl_interface::PlanningContextManager::getStateSpaceFactory2(const std::string& group,
-                                                              const moveit_msgs::MotionPlanRequest& req) const
+ompl_interface::PlanningContextManager::getStateSpaceFactory(const std::string& group,
+                                                             const moveit_msgs::MotionPlanRequest& req) const
 {
   // find the problem representation to use
   auto best = state_space_factories_.end();
@@ -466,10 +465,11 @@ ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextMana
   auto it = pc->second.config.find("enforce_joint_model_state_space");
 
   if (it != pc->second.config.end() && boost::lexical_cast<bool>(it->second))
-    factory_selector = std::bind(&PlanningContextManager::getStateSpaceFactory1, this, std::placeholders::_1,
-                                 JointModelStateSpace::PARAMETERIZATION_TYPE);
+    factory_selector = [this](const std::string&) {
+      return getStateSpaceFactory(JointModelStateSpace::PARAMETERIZATION_TYPE);
+    };
   else
-    factory_selector = std::bind(&PlanningContextManager::getStateSpaceFactory2, this, std::placeholders::_1, req);
+    factory_selector = [this, &req](const std::string& group) { return getStateSpaceFactory(group, req); };
 
   ModelBasedPlanningContextPtr context = getPlanningContext(pc->second, factory_selector, req);
 
