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forward properties
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@ -54,9 +54,13 @@ namespace moveit { namespace task_constructor { namespace stages {
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* The wrapper reads a target_pose from the interface state of solutions provided
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* by the wrapped stage. This Cartesian pose (PoseStamped msg) is used as a goal
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* pose for inverse kinematics.
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*
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* Usually, the end effector's parent link or the group's tip link is used as
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* the IK frame, which should be moved to the goal frame. However, any other
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* IK frame can be defined (which is linked to the tip of the group).
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*
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* Properties of the internally received InterfaceState can be forwarded to the
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* newly generated, externally exposed InterfaceState.
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*/
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class ComputeIK : public WrapperBase {
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public:
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@ -65,11 +69,17 @@ public:
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void init(const core::RobotModelConstPtr &robot_model);
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void onNewSolution(const SolutionBase &s) override;
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void setTimeout(double timeout);
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void setEndEffector(const std::string& eef);
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void setTimeout(double timeout) {
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setProperty("timeout", timeout);
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}
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void setEndEffector(const std::string& eef) {
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setProperty("eef", eef);
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}
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/// setters for IK frame
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void setIKFrame(const geometry_msgs::PoseStamped &pose);
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void setIKFrame(const geometry_msgs::PoseStamped &pose) {
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setProperty("ik_frame", pose);
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}
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void setIKFrame(const Eigen::Affine3d& pose, const std::string& link);
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template <typename T>
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void setIKFrame(const T& p, const std::string& link) {
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@ -81,7 +91,9 @@ public:
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}
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/// setters for target pose
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void setTargetPose(const geometry_msgs::PoseStamped &pose);
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void setTargetPose(const geometry_msgs::PoseStamped &pose) {
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setProperty("target_pose", pose);
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}
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void setTargetPose(const Eigen::Affine3d& pose, const std::string& frame = "");
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template <typename T>
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void setTargetPose(const T& p, const std::string& frame = "") {
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@ -89,8 +101,16 @@ public:
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setTargetPose(pose, frame);
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}
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void setMaxIKSolutions(uint32_t n);
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void setIgnoreCollisions(bool flag);
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void setMaxIKSolutions(uint32_t n) {
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setProperty("max_ik_solutions", n);
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}
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void setIgnoreCollisions(bool flag) {
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setProperty("ignore_collisions", flag);
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}
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void setForwardedProperties(const std::set<std::string>& names) {
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setProperty("forward_properties", names);
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}
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};
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} } }
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@ -61,6 +61,7 @@ ComputeIK::ComputeIK(const std::string &name, Stage::pointer &&child)
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p.declare<std::string>("default_pose", "", "default joint pose of active group (defines cost of IK)");
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p.declare<uint32_t>("max_ik_solutions", 1);
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p.declare<bool>("ignore_collisions", false);
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p.declare<std::set<std::string>>("forward_properties", "to-be-forwarded properties from input");
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// ik_frame and target_pose are read from the interface
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p.declare<geometry_msgs::PoseStamped>("ik_frame", "frame to be moved towards goal pose");
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@ -68,19 +69,6 @@ ComputeIK::ComputeIK(const std::string &name, Stage::pointer &&child)
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p.configureInitFrom(Stage::INTERFACE, {"target_pose"});
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}
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void ComputeIK::setTimeout(double timeout){
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setProperty("timeout", timeout);
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}
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void ComputeIK::setEndEffector(const std::string &eef){
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setProperty("eef", eef);
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}
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void ComputeIK::setIKFrame(const geometry_msgs::PoseStamped &pose)
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{
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setProperty("ik_frame", pose);
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}
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void ComputeIK::setIKFrame(const Eigen::Affine3d &pose, const std::string &link)
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{
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geometry_msgs::PoseStamped pose_msg;
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@ -89,11 +77,6 @@ void ComputeIK::setIKFrame(const Eigen::Affine3d &pose, const std::string &link)
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setIKFrame(pose_msg);
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}
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void ComputeIK::setTargetPose(const geometry_msgs::PoseStamped &pose)
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{
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setProperty("target_pose", pose);
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}
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void ComputeIK::setTargetPose(const Eigen::Affine3d &pose, const std::string &frame)
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{
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geometry_msgs::PoseStamped pose_msg;
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@ -102,15 +85,6 @@ void ComputeIK::setTargetPose(const Eigen::Affine3d &pose, const std::string &fr
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setTargetPose(pose_msg);
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}
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void ComputeIK::setMaxIKSolutions(uint32_t n){
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setProperty("max_ik_solutions", n);
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}
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void ComputeIK::setIgnoreCollisions(bool flag)
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{
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setProperty("ignore_collisions", flag);
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}
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// found IK solutions with a flag indicating validity
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typedef std::vector<std::vector<double>> IKSolutions;
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@ -394,7 +368,14 @@ void ComputeIK::onNewSolution(const SolutionBase &s)
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robot_state.setJointGroupPositions(jmg, ik_solutions.back().data());
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robot_state.update();
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spawn(InterfaceState(scene), std::move(solution));
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InterfaceState state(scene);
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const boost::any &forwards = props.get("forward_properties");
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if (!forwards.empty()) {
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auto p = s.start()->properties();
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p.exposeTo(state.properties(), boost::any_cast<std::set<std::string>>(forwards));
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}
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spawn(std::move(state), std::move(solution));
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}
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// TODO: magic constant should be a property instead ("current_seed_only", or equivalent)
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