Commit Graph

168 Commits

Author SHA1 Message Date
v4hn
1424b51f79 expose typed setters in Cartesian solver 2018-04-05 22:53:24 +02:00
llach
a82a48bb70 fix PropertyMap::exposeTo: use other_name as new name for property (#40) 2018-04-05 13:47:23 +02:00
llach
124979e2a8 MoveRelative: adapt msgs to fit class name (#39) 2018-04-05 13:46:13 +02:00
Robert Haschke
205beea503
Merge pull request #28 from ros-planning/pr-path-constraints
implement path constraints
2018-03-26 09:54:02 +02:00
Robert Haschke
2ca68e6645 actually implement path constraints for CartesianPath planner
... validating constraints
2018-03-26 09:50:17 +02:00
v4hn
d7d80c3499 implement path constraints for Move* 2018-03-26 09:50:17 +02:00
v4hn
80ae01dcca expose timeout property as typed setter 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
f0dc02e2c3 ContainerBasePrivate::position() -> childByIndex() 2018-03-26 00:24:25 +02:00
Robert Haschke
84f5c481be ContainerBasePrivate::position(): generically handle shifting 2018-03-26 00:24:25 +02:00
Robert Haschke
ff0ee407ff remove tool_to_grasp_tf from SimpleGrasp 2018-03-25 06:07:53 +02:00
Robert Haschke
54e4d8eed7 remove tool_to_grasp_tf from GenerateGraspPose 2018-03-25 06:07:53 +02:00
Robert Haschke
12e134ad09 added disclaimer 2018-03-25 06:07:53 +02:00
Robert Haschke
893cb25b5b fix isTargetPoseColliding
- must not use new sandbox_scene (we want to display the place eef)
- jmg not needed anymore
2018-03-25 06:07:53 +02:00
Robert Haschke
c98f10478e frame marker at ik frame 2018-03-25 06:07:53 +02:00
Robert Haschke
5b6a02d105 rename reference frame -> ik frame 2018-03-25 06:07:53 +02:00
Robert Haschke
f497112513 consider reference_frame 2018-03-25 06:04:09 +02:00
Robert Haschke
7531b8ad54 allow arbitrary reference frame for target_pose and ik frame 2018-03-25 06:04:09 +02:00
Robert Haschke
4fcac84d76 remove tests that do not test anything 2018-03-25 06:04:09 +02:00
Robert Haschke
9e5e098339 unittests
- provide simple hard-coded robot model
- test ComputeIK::init()
2018-03-25 06:04:09 +02:00
Robert Haschke
f4adaa949a validate available properties during init() 2018-03-25 06:04:09 +02:00
Robert Haschke
5a55a5949b Merge branches 'bug-fixes', 'gui' and 'pick-stage' 2018-03-24 07:32:20 +01:00
Robert Haschke
a4fed6a18a MoveTo Cartesian: create marker frame at current and goal pose 2018-03-24 06:16:10 +01:00
Robert Haschke
cb38a87a73 CartesianPath: return a partial trajectory in case of failure 2018-03-24 06:16:10 +01:00
Robert Haschke
81d88911a9 cosmetic fixes 2018-03-23 17:18:56 +01:00
Robert Haschke
2331c9aef2 pick: expose IK link frame as eef_frame 2018-03-23 17:18:56 +01:00
Robert Haschke
1c61fb3b85 expose solvers 2018-03-23 17:18:56 +01:00
llach
ea6cc4b6bf moved "attach object" from "pick" to "grasp" stage 2018-03-23 17:18:56 +01:00
Robert Haschke
ceaf896bf8 position scene node w.r.t. fixed frame 2018-03-23 11:22:23 +01:00
Robert Haschke
c2590636b1 fixup! SerialContainer: don't consider failures for solutions 2018-03-23 11:22:23 +01:00
Robert Haschke
862ac37cd6 fix ContainerBasePrivate::copyState(): don't copy (again) on update 2018-03-23 11:22:23 +01:00
Robert Haschke
b3af170663 reset num_failures_ 2018-03-23 11:22:23 +01:00
Robert Haschke
6b912c3531 MoveTo Cartesian Point: bug fix 2018-03-23 11:22:23 +01:00
Robert Haschke
6d859840c3 fix interface detection for nested SerialContainers 2018-03-23 09:18:21 +01:00
Robert Haschke
159beeb044 fix SerialContainer::canCompute() 2018-03-23 09:18:21 +01:00
Robert Haschke
bff6cc569c pick: reusable stage for picking up an object 2018-02-25 23:14:52 +01:00
Robert Haschke
d731e943f1 Merge branch 'parallel-container' 2018-02-25 23:12:35 +01:00
Robert Haschke
9545f92678 GenerateGraspPose::reset() 2018-02-25 23:11:55 +01:00
Robert Haschke
12582f6bbc SerialContainer: don't consider failures for solutions 2018-02-25 20:01:43 +01:00
Robert Haschke
99adfaf454 fix ParallelContainers' init() 2018-02-25 13:22:26 +01:00
Robert Haschke
dcf23f6147 relax ParallelContainer's validateConnectivity() 2018-02-25 13:22:26 +01:00
Robert Haschke
bcacda8507 implement ParallelContainer's pruneInterface() 2018-02-25 13:22:26 +01:00
eirtech
0dc4f5c53e ParallelContainer's requiredInterface() 2018-02-25 13:22:26 +01:00
eirtech
3e4aa19246 ParallelContainer: unittests 2018-02-25 13:22:14 +01:00
Robert Haschke
a2fd5fb7b8 more constexpr InterfaceFlags 2018-02-25 11:59:51 +01:00
Robert Haschke
a24039846a Merge branches 'analyze-property-errors' and 'fixes' 2018-02-24 13:45:51 +01:00
Robert Haschke
94bb50ddc1 fixup! PropertyMap: different exception types 2018-02-24 13:42:18 +01:00
v4hn
30de5e1a8c add catch-rethrow for property initialization
The property doesn't know its own name, so we add it here
2018-02-24 13:42:18 +01:00
v4hn
78b86bb65f add convenience overloads for setting properties 2018-02-24 13:42:18 +01:00
Robert Haschke
e9d1742337 ContainerBase::exposePropertiesOfChild 2018-02-24 13:42:18 +01:00