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| // start and goal system confs for problem to solve and insert into db | ||
| SystemConf start_sysconf = 6; | ||
| SystemConf goal_sysconf = 7; | ||
| } | ||
| } | ||
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| // Response which contains the result of attempting to start computation of a | ||
| // solution for the corresponding StartBuildRequest. | ||
| /** Response which contains the result of attempting to start computation of a | ||
| * solution for the corresponding StartBuildFromConfsRequest. */ |
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I commented this on the planning_service PR, but I think we'd probably want to break out the "update roadmap" call into its own RPC. An example could be something like:
message UpdateRoadmapRequest {
// Definitions of motion plans to be solved.
repeated ProblemDef pdef = 1;
// Options passed to the solver.
UpdateRoadmapOptions options = 2;
}
message UpdateRoadmapResponse {
// Metrics of the resultant solution.
SolutionMetrics metrics = 1;
}
service IrisBuilder {
[...]
// Update the roadmap by solving a set of motion problems and saving their results.
rpc UpdateRoadmap(UpdateRoadmapRequest)
returns (UpdateRoadmapResponse) {}
}
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