introduce new trivial stage Forward

This can be used together with a custom CostTerm to modify costs of a solution.
This commit is contained in:
v4hn 2020-08-19 22:41:09 +02:00
parent 0e38730fd4
commit 1689f6cd95
3 changed files with 128 additions and 0 deletions

View File

@ -0,0 +1,61 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2020, Hamburg University
* 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 the copyright holders 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.
*********************************************************************/
/* Authors: Michael 'v4hn' Goerner */
#pragma once
#include <moveit/task_constructor/container.h>
#include <moveit/task_constructor/cost_queue.h>
#include <geometry_msgs/PoseStamped.h>
#include <Eigen/Geometry>
namespace moveit {
namespace task_constructor {
namespace stages {
/** Generic Wrapper that passes on a solution
*
* Useful to set a custom CostTransform via Stage::setCostTerm
* to change a solution's cost without loosing the original value
*/
class Forward : public WrapperBase
{
public:
Forward(const std::string& name = "Forward", Stage::pointer&& child = Stage::pointer());
void onNewSolution(const SolutionBase& s) override;
};
} // namespace stages
} // namespace task_constructor
} // namespace moveit

View File

@ -5,6 +5,7 @@ add_library(${PROJECT_NAME}_stages
${PROJECT_INCLUDE}/stages/current_state.h
${PROJECT_INCLUDE}/stages/fixed_state.h
${PROJECT_INCLUDE}/stages/fixed_cartesian_poses.h
${PROJECT_INCLUDE}/stages/forward.h
${PROJECT_INCLUDE}/stages/generate_pose.h
${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
${PROJECT_INCLUDE}/stages/generate_place_pose.h
@ -24,6 +25,7 @@ add_library(${PROJECT_NAME}_stages
current_state.cpp
fixed_state.cpp
fixed_cartesian_poses.cpp
forward.cpp
generate_pose.cpp
generate_grasp_pose.cpp
generate_place_pose.cpp

View File

@ -0,0 +1,65 @@
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2020, Hamburg University
* 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 the copyright holders nor the names of their
* 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: Michael 'v4hn' Goerner */
#include <moveit/task_constructor/stages/forward.h>
#include <moveit/task_constructor/storage.h>
#include <moveit/task_constructor/marker_tools.h>
#include <moveit/task_constructor/container_p.h>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/robot_state/robot_state.h>
#include <Eigen/Geometry>
#include <eigen_conversions/eigen_msg.h>
#include <chrono>
#include <functional>
#include <iterator>
#include <ros/console.h>
namespace moveit {
namespace task_constructor {
namespace stages {
Forward::Forward(const std::string& name, Stage::pointer&& child) : WrapperBase(name, std::move(child)) {}
void Forward::onNewSolution(const SolutionBase& s) {
this->liftSolution(s);
}
} // namespace stages
} // namespace task_constructor
} // namespace moveit