Merge branch 'main' into 20241220_RSDK-9587-generate-series-of-waypoi…

…nts-to-cover-surface-given-a-pcd-mesh

motionplan/plan.go

@@ -372,8 +372,8 @@ func (p *PlanState) Configuration() referenceframe.FrameSystemInputs {
 }
 
 // ComputePoses returns the poses of a PlanState if they are populated, or computes them using the given FrameSystem if not.
-func (p *PlanState) ComputePoses(fs referenceframe.FrameSystem) (PathState, error) {
-	if len(p.poses) > 0 {
+func (p *PlanState) ComputePoses(fs referenceframe.FrameSystem) (referenceframe.FrameSystemPoses, error) {
+	if p.poses != nil {
 		return p.poses, nil
 	}
 

motionplan/planManager.go

@@ -211,7 +211,7 @@ func (pm *planManager) planSingleAtomicWaypoint(
 	ctx context.Context,
 	wp atomicWaypoint,
 	maps *rrtMaps,
-) (map[string][]referenceframe.Input, *resultPromise, error) {
+) (referenceframe.FrameSystemInputs, *resultPromise, error) {
 	fromPoses, err := wp.startState.ComputePoses(pm.fs)
 	if err != nil {
 		return nil, nil, err

motionplan/plannerOptions.go

@@ -64,7 +64,7 @@ const (
 	defaultRobotCollisionConstraintDesc = "Collision between a robot component that is moving and one that is stationary"
 
 	// When breaking down a path into smaller waypoints, add a waypoint every this many mm of movement.
-	defaultPathStateSize = 15
+	defaultStepSizeMM = 10
 
 	// This is commented out due to Go compiler bug. See comment in newBasicPlannerOptions for explanation.
 	// var defaultPlanner = newCBiRRTMotionPlanner.