Merge branch 'ompl:main' into planner/aorrtc

Author: twill777

.github/workflows/wheels.yaml

@@ -89,7 +89,7 @@ jobs:
           merge-multiple: true
 
       - name: Publish to PyPI
-        uses: pypa/gh-action-pypi-publish@v1.12.4
+        uses: pypa/gh-action-pypi-publish@v1.13.0
         with:
           packages: wheelhouse/*.whl
         env:

scripts/docker/plannerarena.Dockerfile

@@ -1,10 +1,14 @@
-FROM rocker/shiny-verse:4.0.3
+FROM rocker/shiny-verse:4.5.1
 RUN apt-get update && \
     apt-get install -y libv8-dev libjpeg-dev
 RUN install2.r --error --deps TRUE \
+    shiny \
     shinyjs \
     V8 \
-    pool \
+    dplyr \
+    dbplyr \
+    tidyr \
+    ggplot2 \
     Hmisc \
     RSQLite \
     markdown && \

scripts/plannerarena/plannerarena

@@ -1,6 +1,6 @@
 #!/usr/bin/env Rscript
 
-packages <- c('shiny', 'shinyjs', 'V8', 'dplyr', 'dbplyr', 'pool', 'tidyr', 'ggplot2', 'Hmisc', 'RSQLite', 'markdown')
+packages <- c('shiny', 'shinyjs', 'V8', 'dplyr', 'dbplyr', 'tidyr', 'ggplot2', 'Hmisc', 'RSQLite', 'markdown')
 missing.packages <- setdiff(packages, rownames(installed.packages()))
 if (length(missing.packages) > 0) {
     cat(c('The following packages will be installed:\n\t', missing.packages, '\n'))

scripts/plannerarena/server.R

@@ -34,12 +34,12 @@
 
 # Author: Mark Moll
 
-library(pool)
 library(dplyr, warn.conflicts = FALSE)
 library(tidyr)
 library(ggplot2)
 library(rlang)
 library(Hmisc)
+library(DBI)
 
 default_database <- "www/benchmark.db"
 
@@ -202,7 +202,7 @@ shinyServer(function(input, output, session) {
             # case 3
             database <- paste(sessions_folder, query$user, query$job, sep = "/")
         if (file.exists(database)) {
-            con <- dbPool(RSQLite::SQLite(), dbname = database)
+            con <- dbConnect(RSQLite::SQLite(), dbname = database)
             # benchmark job may not yet be finished so check that "experiments"
             # table exists.
             if ("experiments" %in% DBI::dbListTables(con)) {
@@ -882,4 +882,8 @@ shinyServer(function(input, output, session) {
             tabPanel("Planner Configurations", tableOutput("planner_configs"))
         )
     })
+
+    session$onSessionEnded(function() {
+        dbDisconnect(con())
+    })
 })

src/ompl/geometric/planners/lazyinformedtrees/BLITstar.h

@@ -101,8 +101,6 @@ namespace ompl
             ompl::base::PlannerStatus
             solve(const ompl::base::PlannerTerminationCondition &terminationCondition) override;
 
-            /** \brief Operate + . */
-            ompl::base::Cost costCombine(ompl::base::Cost c1, ompl::base::Cost c2);
             /** \brief Get the planner data. */
             void getPlannerData(base::PlannerData &data) const override;
 
@@ -136,7 +134,6 @@ namespace ompl
             /** \brief Get the maximum number of goals BLIT* will sample from sampleable goal regions. */
             unsigned int getMaxNumberOfGoals() const;
 
-            void runTime();
             /**\brief Above references inherit from BLIT*. */
 
             /** \brief Perform sparse/compelete collision detection. */