diff --git a/CMakeLists.txt b/CMakeLists.txt
index a6d47567..2bc7f47c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -65,8 +65,7 @@ install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(DIRECTORY include/ DESTINATION include)
install(FILES
- task_panel_rviz_plugin_description.xml
- task_solution_rviz_plugin_description.xml
+ motion_planning_tasks_rviz_plugin_description.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
add_subdirectory(src/stages)
diff --git a/motion_planning_tasks_rviz_plugin_description.xml b/motion_planning_tasks_rviz_plugin_description.xml
new file mode 100644
index 00000000..0dd6e4c2
--- /dev/null
+++ b/motion_planning_tasks_rviz_plugin_description.xml
@@ -0,0 +1,16 @@
+
+
+
+ A panel widget to monitor and edit motion planning tasks
+
+
+
+
+ Monitor motion planning tasks and animate their solution trajectories
+
+
+
diff --git a/package.xml b/package.xml
index 739dc3c7..223298f1 100644
--- a/package.xml
+++ b/package.xml
@@ -22,7 +22,6 @@
rosunit
-
-
+
diff --git a/src/test/CMakeLists.txt b/src/test/CMakeLists.txt
index e4dff25b..9823caa0 100644
--- a/src/test/CMakeLists.txt
+++ b/src/test/CMakeLists.txt
@@ -11,7 +11,7 @@ if (CATKIN_ENABLE_TESTING)
target_link_libraries(${PROJECT_NAME}-test-container ${PROJECT_NAME} gtest_main ${catkin_LIBRARIES})
catkin_add_gtest(${PROJECT_NAME}-test-task_model test_task_model.cpp)
- target_link_libraries(${PROJECT_NAME}-test-task_model moveit_task_panel_rviz_plugin gtest_main)
+ target_link_libraries(${PROJECT_NAME}-test-task_model motion_planning_tasks_rviz_plugin gtest_main)
endif()
add_executable(test_plan_current_state test_plan_current_state.cpp)
diff --git a/task_panel_rviz_plugin_description.xml b/task_panel_rviz_plugin_description.xml
deleted file mode 100644
index 7dd7ab29..00000000
--- a/task_panel_rviz_plugin_description.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-
-
-
- A panel widget to monitor and edit planning tasks
-
-
-
diff --git a/task_solution_rviz_plugin_description.xml b/task_solution_rviz_plugin_description.xml
deleted file mode 100644
index 16c6a847..00000000
--- a/task_solution_rviz_plugin_description.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-
-
-
- Animate task solution trajectories
-
-
-
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index fbf3374c..708c2fed 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -21,5 +21,4 @@ set(CMAKE_AUTOMOC ON)
add_definitions(-DQT_NO_KEYWORDS)
add_subdirectory(visualization_tools)
-add_subdirectory(task_solution_display)
-add_subdirectory(task_panel)
+add_subdirectory(motion_planning_tasks)
diff --git a/visualization/motion_planning_tasks/CMakeLists.txt b/visualization/motion_planning_tasks/CMakeLists.txt
new file mode 100644
index 00000000..2bfb4586
--- /dev/null
+++ b/visualization/motion_planning_tasks/CMakeLists.txt
@@ -0,0 +1,26 @@
+set(MOVEIT_LIB_NAME motion_planning_tasks_rviz_plugin)
+
+qt_wrap_ui(UIC_FILES task_panel.ui)
+
+add_library(${MOVEIT_LIB_NAME}
+ mainloop_processing.cpp
+ stage_wrapper.cpp
+ task_model.cpp
+ task_panel.cpp
+ task_display.cpp
+ plugin_init.cpp
+ ${UIC_FILES}
+)
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+target_link_libraries(${MOVEIT_LIB_NAME}
+ moveit_task_visualization_tools
+ ${catkin_LIBRARIES} ${QT_LIBRARIES}
+)
+target_include_directories(${MOVEIT_LIB_NAME}
+ PUBLIC $
+ PRIVATE $
+)
+
+install(TARGETS ${MOVEIT_LIB_NAME}
+ ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+ LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/visualization/task_panel/mainloop_processing.cpp b/visualization/motion_planning_tasks/mainloop_processing.cpp
similarity index 100%
rename from visualization/task_panel/mainloop_processing.cpp
rename to visualization/motion_planning_tasks/mainloop_processing.cpp
diff --git a/visualization/task_panel/mainloop_processing.h b/visualization/motion_planning_tasks/mainloop_processing.h
similarity index 100%
rename from visualization/task_panel/mainloop_processing.h
rename to visualization/motion_planning_tasks/mainloop_processing.h
diff --git a/visualization/motion_planning_tasks/plugin_init.cpp b/visualization/motion_planning_tasks/plugin_init.cpp
new file mode 100644
index 00000000..0c05a9fa
--- /dev/null
+++ b/visualization/motion_planning_tasks/plugin_init.cpp
@@ -0,0 +1,8 @@
+/* Author: Robert Haschke */
+
+#include
+#include "task_display.h"
+#include "task_panel.h"
+
+PLUGINLIB_EXPORT_CLASS(moveit_rviz_plugin::TaskDisplay, rviz::Display)
+PLUGINLIB_EXPORT_CLASS(moveit_rviz_plugin::TaskPanel, rviz::Panel)
diff --git a/visualization/task_panel/stage_wrapper.cpp b/visualization/motion_planning_tasks/stage_wrapper.cpp
similarity index 100%
rename from visualization/task_panel/stage_wrapper.cpp
rename to visualization/motion_planning_tasks/stage_wrapper.cpp
diff --git a/visualization/task_panel/stage_wrapper.h b/visualization/motion_planning_tasks/stage_wrapper.h
similarity index 100%
rename from visualization/task_panel/stage_wrapper.h
rename to visualization/motion_planning_tasks/stage_wrapper.h
diff --git a/visualization/task_solution_display/task_solution_display.cpp b/visualization/motion_planning_tasks/task_display.cpp
similarity index 88%
rename from visualization/task_solution_display/task_solution_display.cpp
rename to visualization/motion_planning_tasks/task_display.cpp
index 86ef26df..070fac72 100644
--- a/visualization/task_solution_display/task_solution_display.cpp
+++ b/visualization/motion_planning_tasks/task_display.cpp
@@ -36,7 +36,7 @@
Desc: Wraps a task_solution_visualization playback class for Rviz into a stand alone display
*/
-#include "task_solution_display.h"
+#include "task_display.h"
#include
#include
@@ -46,7 +46,7 @@
namespace moveit_rviz_plugin
{
-TaskSolutionDisplay::TaskSolutionDisplay() : Display(), load_robot_model_(false)
+TaskDisplay::TaskDisplay() : Display(), load_robot_model_(false)
{
// The robot description property is only needed when using the trajectory playback standalone (not within motion
// planning plugin)
@@ -57,18 +57,18 @@ TaskSolutionDisplay::TaskSolutionDisplay() : Display(), load_robot_model_(false)
trajectory_visual_.reset(new TaskSolutionVisualization(this, this));
}
-TaskSolutionDisplay::~TaskSolutionDisplay()
+TaskDisplay::~TaskDisplay()
{
}
-void TaskSolutionDisplay::onInitialize()
+void TaskDisplay::onInitialize()
{
Display::onInitialize();
trajectory_visual_->onInitialize(scene_node_, context_, update_nh_);
}
-void TaskSolutionDisplay::loadRobotModel()
+void TaskDisplay::loadRobotModel()
{
load_robot_model_ = false;
rdf_loader_.reset(new rdf_loader::RDFLoader(robot_description_property_->getStdString()));
@@ -90,26 +90,26 @@ void TaskSolutionDisplay::loadRobotModel()
trajectory_visual_->onEnable();
}
-void TaskSolutionDisplay::reset()
+void TaskDisplay::reset()
{
Display::reset();
loadRobotModel();
trajectory_visual_->reset();
}
-void TaskSolutionDisplay::onEnable()
+void TaskDisplay::onEnable()
{
Display::onEnable();
load_robot_model_ = true; // allow loading of robot model in update()
}
-void TaskSolutionDisplay::onDisable()
+void TaskDisplay::onDisable()
{
Display::onDisable();
trajectory_visual_->onDisable();
}
-void TaskSolutionDisplay::update(float wall_dt, float ros_dt)
+void TaskDisplay::update(float wall_dt, float ros_dt)
{
Display::update(wall_dt, ros_dt);
@@ -119,13 +119,13 @@ void TaskSolutionDisplay::update(float wall_dt, float ros_dt)
trajectory_visual_->update(wall_dt, ros_dt);
}
-void TaskSolutionDisplay::setName(const QString& name)
+void TaskDisplay::setName(const QString& name)
{
BoolProperty::setName(name);
trajectory_visual_->setName(name);
}
-void TaskSolutionDisplay::changedRobotDescription()
+void TaskDisplay::changedRobotDescription()
{
if (isEnabled())
reset();
diff --git a/visualization/task_solution_display/task_solution_display.h b/visualization/motion_planning_tasks/task_display.h
similarity index 96%
rename from visualization/task_solution_display/task_solution_display.h
rename to visualization/motion_planning_tasks/task_display.h
index abf04af8..ebcaf0c1 100644
--- a/visualization/task_solution_display/task_solution_display.h
+++ b/visualization/motion_planning_tasks/task_display.h
@@ -58,14 +58,14 @@ namespace moveit_rviz_plugin
{
MOVEIT_CLASS_FORWARD(TaskSolutionVisualization)
-class TaskSolutionDisplay : public rviz::Display
+class TaskDisplay : public rviz::Display
{
Q_OBJECT
public:
- TaskSolutionDisplay();
+ TaskDisplay();
- virtual ~TaskSolutionDisplay();
+ virtual ~TaskDisplay();
void loadRobotModel();
diff --git a/visualization/task_panel/task_model.cpp b/visualization/motion_planning_tasks/task_model.cpp
similarity index 100%
rename from visualization/task_panel/task_model.cpp
rename to visualization/motion_planning_tasks/task_model.cpp
diff --git a/visualization/task_panel/task_model.h b/visualization/motion_planning_tasks/task_model.h
similarity index 100%
rename from visualization/task_panel/task_model.h
rename to visualization/motion_planning_tasks/task_model.h
diff --git a/visualization/task_panel/task_panel.cpp b/visualization/motion_planning_tasks/task_panel.cpp
similarity index 91%
rename from visualization/task_panel/task_panel.cpp
rename to visualization/motion_planning_tasks/task_panel.cpp
index bababf16..2e075c09 100644
--- a/visualization/task_panel/task_panel.cpp
+++ b/visualization/motion_planning_tasks/task_panel.cpp
@@ -107,9 +107,3 @@ void TaskPanel::load(const rviz::Config& config)
}
#include "moc_task_panel.cpp"
-
-// Tell pluginlib about this class. Every class which should be
-// loadable by pluginlib::ClassLoader must have these two lines
-// compiled in its .cpp file, outside of any namespace scope.
-#include
-PLUGINLIB_EXPORT_CLASS(moveit_rviz_plugin::TaskPanel, rviz::Panel)
diff --git a/visualization/task_panel/task_panel.h b/visualization/motion_planning_tasks/task_panel.h
similarity index 100%
rename from visualization/task_panel/task_panel.h
rename to visualization/motion_planning_tasks/task_panel.h
diff --git a/visualization/task_panel/task_panel.ui b/visualization/motion_planning_tasks/task_panel.ui
similarity index 100%
rename from visualization/task_panel/task_panel.ui
rename to visualization/motion_planning_tasks/task_panel.ui
diff --git a/visualization/task_panel/CMakeLists.txt b/visualization/task_panel/CMakeLists.txt
deleted file mode 100644
index 7be033bb..00000000
--- a/visualization/task_panel/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-set(MOVEIT_LIB_NAME moveit_task_panel_rviz_plugin)
-
-qt_wrap_ui(UIC_FILES task_panel.ui)
-
-add_library(${MOVEIT_LIB_NAME}
- mainloop_processing.cpp
- stage_wrapper.cpp
- task_model.cpp
- task_panel.cpp
- ${UIC_FILES}
-)
-target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${QT_LIBRARIES})
-target_include_directories(${MOVEIT_LIB_NAME}
- PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
- PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
-)
-
-install(TARGETS ${MOVEIT_LIB_NAME}
- ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/visualization/task_solution_display/CMakeLists.txt b/visualization/task_solution_display/CMakeLists.txt
deleted file mode 100644
index f59586c6..00000000
--- a/visualization/task_solution_display/CMakeLists.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-set(MOVEIT_LIB_NAME moveit_task_solution_rviz_plugin)
-
-# Trajectory Display
-add_library(${MOVEIT_LIB_NAME}_core
- task_solution_display.cpp
-)
-set_target_properties(${MOVEIT_LIB_NAME}_core PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
-target_link_libraries(${MOVEIT_LIB_NAME}_core
- moveit_task_visualization_tools
- ${catkin_LIBRARIES} ${OGRE_LIBRARIES} ${QT_LIBRARIES} ${Boost_LIBRARIES}
-)
-target_include_directories(${MOVEIT_LIB_NAME}_core PUBLIC include)
-
-# Plugin Initializer
-add_library(${MOVEIT_LIB_NAME} plugin_init.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
-target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-
-install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
- ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/visualization/task_solution_display/plugin_init.cpp b/visualization/task_solution_display/plugin_init.cpp
deleted file mode 100644
index 70af2520..00000000
--- a/visualization/task_solution_display/plugin_init.cpp
+++ /dev/null
@@ -1,40 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Willow Garage nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-/* Author: Dave Coleman */
-
-#include
-#include
-
-CLASS_LOADER_REGISTER_CLASS(moveit_rviz_plugin::TaskSolutionDisplay, rviz::Display)