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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
add angle delta for generate grasp poses
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commit
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@ -30,6 +30,8 @@ public:
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void setTimeout(double timeout);
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void setTimeout(double timeout);
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void setAngleDelta(double delta);
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protected:
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protected:
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std::string group_;
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std::string group_;
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@ -39,6 +41,8 @@ protected:
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double timeout_;
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double timeout_;
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double angle_delta_;
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/* temp values */
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/* temp values */
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double current_angle_;
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double current_angle_;
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@ -18,6 +18,7 @@
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moveit::task_constructor::subtasks::GenerateGraspPose::GenerateGraspPose(std::string name)
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moveit::task_constructor::subtasks::GenerateGraspPose::GenerateGraspPose(std::string name)
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: moveit::task_constructor::SubTask::SubTask(name),
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: moveit::task_constructor::SubTask::SubTask(name),
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timeout_(0.1),
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timeout_(0.1),
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angle_delta_(0.1),
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current_angle_(0.0),
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current_angle_(0.0),
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remaining_time_(timeout_),
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remaining_time_(timeout_),
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tried_current_state_as_seed_(false)
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tried_current_state_as_seed_(false)
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@ -48,6 +49,11 @@ moveit::task_constructor::subtasks::GenerateGraspPose::setTimeout(double timeout
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remaining_time_= timeout;
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remaining_time_= timeout;
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}
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}
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void
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moveit::task_constructor::subtasks::GenerateGraspPose::setAngleDelta(double delta){
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angle_delta_= delta;
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}
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bool
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bool
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moveit::task_constructor::subtasks::GenerateGraspPose::canCompute(){
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moveit::task_constructor::subtasks::GenerateGraspPose::canCompute(){
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@ -100,7 +106,7 @@ moveit::task_constructor::subtasks::GenerateGraspPose::compute(){
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while(current_angle_ < 2*M_PI){
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while(current_angle_ < 2*M_PI){
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if( remaining_time_ <= 0.0 ){
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if( remaining_time_ <= 0.0 ){
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current_angle_+= 0.2;
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current_angle_+= angle_delta_;
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remaining_time_= timeout_;
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remaining_time_= timeout_;
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tried_current_state_as_seed_= false;
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tried_current_state_as_seed_= false;
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previous_solutions_.clear();
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previous_solutions_.clear();
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@ -41,6 +41,8 @@ int main(int argc, char** argv){
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st->setEndEffector("s_model_tool0");
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st->setEndEffector("s_model_tool0");
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st->setGroup("arm");
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st->setGroup("arm");
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st->setObject("object");
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st->setObject("object");
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st->setTimeout(0.5);
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st->setAngleDelta(0.1);
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t.addStart(st);
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t.addStart(st);
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