Store the set of joints involved in a received trajectories and
use this set to constrain serialization of solutions for execution to those joints only.
If this is not done, all joints of the RobotModel are considered for the trajectory,
but we might not have controllers defined for all joints, so execution will fail.
Maybe, a better approach might be to just ask the MTC planner to execute a specific solution id.
However, this requires that the planner node is still available.
As INCLUDE_DIRECTORIES of target_link_libraries always go AFTER those from target_include_directories,
we need to explicitly provide the include order for local targets.
To move a task instance to another one, it's not sufficient to swap all task members,
but we also need to adapt all back pointers, i.e. me_ and parent_ pointers of children,
to point to the (swapped) task instances.
- to allow solution wrappers (WrappedSolution, SolutionSequence)
to transmit their comment and markers as well
- introduced new SolutionInfo.msg,
which is the info common to solution wrappers and actual SubTrajectories
Reworked cost_queue to correctly sort pointer-like types.
Added unittests for new ValueOrPointeeLess<T> less operator, ordered<T>, and rviz cost ordering.
Provide TaskPanel::addSubPanel() to add new sub panels.
Each panel can be activated with an associated QToolButton.
Sub panels, derived from base class SubPanel, automatically load/save their config settings.
All settings are shown in GlobalSettingsWidget (renamed from TaskSettings).
To allow stages to display their properties in a custom fashion, e.g.
to show the end-effector marker for PoseStamped, we need to be able
to register stage-specific factories.
- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers
- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
allows for common handling of states of valid and failure solutions
- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*