Commit Graph

20 Commits

Author SHA1 Message Date
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
- 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
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
(also in case of failure)
2019-07-19 13:45:07 +02:00
Michael Görner
f7b259259e Introduce clang-format (#102)
* 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
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
- 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
...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
... validating constraints
2018-03-26 09:50:17 +02:00
v4hn
8af44cefc3 add path constraints to planner API
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
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