Michael Görner
ee6c50ad31
Apply clang-format-10 ( #199 )
2020-08-20 11:56:53 +02:00
v4hn
8faba159f9
clang-tidy: llvm-namespace-comment
2020-06-11 11:03:50 +02:00
v4hn
2153237643
clang-format: readability-identifier-naming
...
Probably the most invasive format patch, also changing some internal API.
I deliberately disabled ClassCase and MethodCase checks for the moment
to avoid public API changes in this patch set.
2020-06-11 11:03:50 +02:00
Jafar Abdi
b4fb8bb435
Allow constructing PipelinePlanner from PlanningPipelinePtr ( #155 )
2020-04-08 17:36:02 +02:00
Robert Haschke
8debe68f99
fix joint_interpolation
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- return a trajectory in any case (even if there is no motion needed)
- check feasability of goal pose
2020-04-03 11:36:05 +02:00
v4hn
233d63aa7a
avoid deprecation warnings of MoveIt master branch
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Use new methods
- moveit::core::isEmpty
- moveit::core::CartesianInterpolator::computeCartesianPath
2019-12-13 11:29:02 +01:00
Robert Haschke
4225671ae4
PipelinePlanner: always forward trajectory
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(also in case of failure)
2019-07-19 13:45:07 +02:00
Michael Görner
f7b259259e
Introduce clang-format ( #102 )
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* fix catkin_lint issues
* introduce clang-format config and apply it
2019-07-18 11:04:35 +02:00
Robert Haschke
ae75c3aa7f
Eigen::Affine3 -> Eigen::Isometry3
2018-11-28 08:14:44 +01:00
v4hn
9740179f7f
Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master
2018-10-22 17:31:01 +02:00
v4hn
a05a76fd8c
fixup! add properties for conditional debug output
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in MoveIt planner.
These can be quite helpful.
I agree, we really don't need them enabled by default.
2018-10-22 16:59:24 +02:00
Robert Haschke
18bf5246ed
cleanup PlannerInterface
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- remove group + timeout properties: they are passed as arguments to plan()
- move max_velocity_scaling_factor, max_acceleration_scaling_factor to PlannerInterface base class
2018-10-21 00:02:10 +02:00
Robert Haschke
36fe4c98be
reduce copying of shared ptrs
2018-10-20 12:21:18 +02:00
Robert Haschke
a7b74673ce
PlannerInterface for joint-space interpolation
2018-09-25 22:16:45 +02:00
Robert Haschke
84dec07565
MoveTo/MoveRelative: generic IK target frame
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...instead of simple link name
2018-05-30 20:25:07 +02:00
Robert Haschke
ae3b9126bd
get rid off empty JointState errors
2018-04-27 12:07:27 +02:00
Robert Haschke
2ca68e6645
actually implement path constraints for CartesianPath planner
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... validating constraints
2018-03-26 09:50:17 +02:00
v4hn
8af44cefc3
add path constraints to planner API
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and use it in the Connect class.
The cartesian planner ignores the constraints for now.
2018-03-26 09:50:17 +02:00
Robert Haschke
cb38a87a73
CartesianPath: return a partial trajectory in case of failure
2018-03-24 06:16:10 +01:00
Robert Haschke
724f0c3014
modular planning
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Separate planning approaches (using MoveIt pipeline or computeCartesianPath) from stages.
This allows to reuse planning in various stages without code duplication.
Reworked stages:
Move -> Connect
Gripper + CartesianPositionMotion -> MoveTo
CartesianPositionMotion -> MoveRelative
2018-02-12 23:43:47 +01:00