Commit Graph

483 Commits

Author SHA1 Message Date
janEbert
1f85b00e14 more wrappers, unittest, fixes 2018-06-03 13:03:41 +02:00
Robert Haschke
de9fa8405d register ROS msg types with boost::python's type converters 2018-06-03 13:03:41 +02:00
Robert Haschke
f4ffccdc1f handle std::unique_ptr<Stage>
Class holder needs to be a smart pointer, e.g. std::auto_ptr.
This can be released(), such that ownership can be passed.
Further, derived types need to be declared as implicitly_convertible to base type.
2018-06-03 13:03:41 +02:00
Robert Haschke
47a2a28698 cleanup, unittest for properties 2018-06-03 13:03:41 +02:00
Robert Haschke
ee13295c92 separate .core and .stages modules 2018-06-03 13:03:41 +02:00
Robert Haschke
e615b7c9da local names for python wrapper libs 2018-06-03 13:03:41 +02:00
Robert Haschke
f7ddd43d53 cleanup folder structure 2018-06-03 13:03:41 +02:00
Robert Haschke
135c9c2148 solvers + stages 2018-06-03 13:03:41 +02:00
Robert Haschke
3ef0bd426b Properties 2018-06-03 13:03:41 +02:00
janEbert
226b0b03b4 basic boost::python wrappers 2018-06-03 13:03:41 +02:00
Robert Haschke
abea2ee82b reuse boost::any's type_index type 2018-06-02 17:46:37 +02:00
Robert Haschke
2e9932cfbc fix: don't report config issues as successful (but empty) solutions 2018-06-02 17:46:28 +02:00
v4hn
381210f43d compatibility with boost 1.54
This is required for ROS indigo on ubuntu 14.04
2018-06-01 15:02:11 +02:00
Michael Görner
5739bf39d9 use correct frame in pick (#52) 2018-06-01 14:55:23 +02:00
v4hn
0091c76208 compute ik: ignore collisions skips early eef check 2018-06-01 11:34:07 +02:00
v4hn
4026661bfe Rewrite and relax approx comparisons
This is more readable.

Adjusting the threshold to 1e-4 is required to allow for tolerances
in potential sampling planner steps in between.
2018-06-01 11:32:29 +02:00
v4hn
bd1edcbde7 add max_solutions param to plan()
For big problems you just don't want *all* solutions
2018-06-01 11:13:44 +02:00
Robert Haschke
ac1ccba883 minor formatting changes (#51) 2018-05-31 18:01:30 +02:00
Robert Haschke
b35aba6e19 validate merged trajectories 2018-05-30 21:23:34 +02:00
Robert Haschke
941e9df737 declare properties "timeout", "marker_ns" for all stages 2018-05-30 21:21:14 +02:00
Robert Haschke
c2dd28abae rework storing of solutions
- 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*
2018-05-30 21:02:50 +02:00
v4hn
ae6b86c7d7 remove void line
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b correctly reset FixedState 2018-05-30 21:02:03 +02:00
Robert Haschke
52fdf30433 simplify compute() API
- remove bool return value
- always create a solution trajectory, also in case of failures
- success/failure determined from solution.isFailure()

minor adjustments during cherry-pick
2018-05-30 21:01:34 +02:00
Robert Haschke
eb50aaed0e SolutionBase: rename 'name' to 'comment' 2018-05-30 20:25:42 +02:00
Robert Haschke
84dec07565 MoveTo/MoveRelative: generic IK target frame
...instead of simple link name
2018-05-30 20:25:07 +02:00
v4hn
495c80350b Merge branches 'joint_pose', 'move-relative-joints', 'basic-merger' and 'compute-ik' 2018-05-30 19:35:58 +02:00
v4hn
015b1466f4 MoveRel: handle unknown links with hard failure 2018-05-30 19:09:57 +02:00
v4hn
56c9128d99 MoveTo: cleaner strict handling of invalid properties 2018-05-30 18:53:39 +02:00
v4hn
b8e6e5e2fa MoveTo: reduce scope of try-catch 2018-05-30 18:44:26 +02:00
v4hn
bbd274da96 MoveTo: simplify getJointStateGoal 2018-05-30 18:42:31 +02:00
Robert Haschke
b7b7a916df basic merger functionality 2018-05-18 17:44:55 +02:00
Robert Haschke
5e8117720e ignore failures for further processing 2018-05-18 17:44:43 +02:00
Robert Haschke
abb68da083 forward properties 2018-05-18 17:44:43 +02:00
Robert Haschke
ce10d96c5c ComputeIK: report collision pairs 2018-05-18 17:44:43 +02:00
Robert Haschke
41e64ed7e1 remove std::map serialization 2018-05-18 17:44:30 +02:00
Robert Haschke
40ca35085a cleanup 2018-05-18 17:44:30 +02:00
llach
9a7aa4dad7 Pick: added setter for relative joint lift motion 2018-05-18 17:44:30 +02:00
llach
d0c8f7f819 MoveRelative: added relative joint space goals to 2018-05-18 17:44:30 +02:00
llach
0779c255df added stream serialization for std::map<std::string, T> 2018-05-18 17:44:30 +02:00
Robert Haschke
9e19f2187b moved implementations of property setters to header 2018-05-18 17:44:17 +02:00
Robert Haschke
17e487be06 cleanup
- indentation: space -> tabs
- only consider joints of JMG
2018-05-18 17:44:17 +02:00
llach
2be3ee611b adapted MoveTo api change. joint_pose -> named_joint_pose 2018-05-18 17:44:17 +02:00
llach
55470062c9 MoveTo: converting named joint poses to robot state msg in init; property names refactoring 2018-05-18 17:44:17 +02:00
llach
97c2312d67 MoveTo: can now take RobotState msg as goal 2018-05-18 17:44:17 +02:00
Robert Haschke
19fa7349d3 Task: only accept containers 2018-05-18 17:42:34 +02:00
Robert Haschke
e3ca832497 Property: silently return empty string when serialization is not supported 2018-05-18 17:42:34 +02:00
Robert Haschke
2106c51c9d Property: provide a fallback serialize() implementation
... in case operator<< is not defined for type T
2018-04-28 22:13:52 +02:00
Robert Haschke
cf84f261a0 travis: enable ccache 2018-04-27 19:58:15 +02:00
Robert Haschke
ae3b9126bd get rid off empty JointState errors 2018-04-27 12:07:27 +02:00