Task list for migrating to new planning API

[jslee02]

As we merge the new planning API (soon), let's migrate the current planning functions to the new one. Here is the task list. Please add more tasks if you find something missed.

General

• [x] (JS) Revive old snap planner function: #414
• [x] (JS) Fix necessary const-correctness issues for following changes: #419
• [x] (JS) Add State::clone(): #422
• [ ] (JS) Change planning problems to take ScopedState rather than State*: #424
• [ ] (JS) Write tests for the new API framework (w/o tests for concrete planners)

Planners

• OMPL
  • [ ] OMPLConfigurationToConfigurationPlanner
  • [ ] OMPLConfigurationToConfigurationsPlanner
  • [ ] OMPLConfigurationToTSRPlanner (w/ and w/o trajectory constraint)
  • [ ] OMPLConfigurationToEndEffectorPosePlanner
  • [ ] Expose planning algorithms in pr-ompl
• Vector field
  • [ ] (Sherdil) VectorFieldConfigurationToEndEffectorOffsetPlanner: #426
  • [ ] VectorFieldConfigurationToEndEffectorPosePlanner
• TrajOpt-like (name TBD)
  • [ ] OptConfigurationToConfigurationPlanner
  • [ ] OptConfigurationToConfigurationsPlanner
  • [ ] OptConfigurationToTSRPlanner
  • [ ] OptConfigurationToEndEffectorOffsetPlanner
  • [ ] OptConfigurationToEndEffectorPosePlanner
• CHOMP (name TBD)
  • [ ] OptimizeTrajectory
• Adaptor
  • [ ] (Brian) Preliminary work: #425
  • [ ] ConfigurationToConfiguration_to_ConfigurationToConfigurations
  • and more
• Composite
  • [ ] FirstSupportedMetaPlanner
  • [ ] RankedMetaPlanner
  • [ ] SequenceMetaPlanner
• ETC
  • [ ] PlanToIk
  • [ ] ShortcutPath
  • [ ] PlanToBasePose
  • [ ] PlanToWorkSpacePath

Common to all tasks

• Please write tests for new planners
• Keep the current planning functions not to break the downstream projects yet
• Mark the current planning functions as deprecated