Commit Graph

376 Commits

Author SHA1 Message Date
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
b15c5adbd7
Merge pull request #37 from ubi-agni/relative-markers
online update of relative markers
2018-03-26 00:20:14 +02:00
Robert Haschke
853fa86e37 switch markers when showing next subtrajectory 2018-03-26 00:14:32 +02:00
Robert Haschke
b316a2e9c4 allow marker pose updates during trajectory display
moved marker_visual_ from TaskDisplay to TaskSolutionVisualization
2018-03-26 00:14:32 +02:00
Robert Haschke
714117a48a reworked marker creation 2018-03-26 00:14:28 +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
01a2415149 fix travis: build not yet released dependencies 2018-03-25 05:53:17 +02:00
Robert Haschke
5a55a5949b Merge branches 'bug-fixes', 'gui' and 'pick-stage' 2018-03-24 07:32:20 +01:00
Robert Haschke
936681f4c3 allow arbitrary (planning scene) frames for markers 2018-03-24 07:31:30 +01:00
Robert Haschke
56c2ef3fbb save settings for solution sorting 2018-03-24 07:03:32 +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
2451d0c4d5 save panel settings 2018-03-23 17:25:49 +01:00
Robert Haschke
3d07e34522 highlight currently active solution part 2018-03-23 17:25:49 +01:00
Robert Haschke
0fd5f3c1b3 auto-expand newly inserted task-pipelines 2018-03-23 17:25:49 +01:00
Robert Haschke
3ce0bc7dee MetaTaskListModel: don't remove top-level items 2018-03-23 17:25:49 +01:00
janEbert
1f6bea9438 icons to visualize logic flow 2018-03-23 17:25:49 +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
bffe5f9a55 position marker nodes w.r.t. planning frame 2018-03-23 17:08:06 +01:00
Robert Haschke
d816a13362 fix segfault: always createMarkers()
... to have all the scene nodes properly defined
in case namespace groups will be enabled later on
2018-03-23 17:08:06 +01:00
Robert Haschke
3fe3034410 MarkerVisualization: improve comments
- renamed showMarkers() -> addMarkers()
- MarkerVisualizationProperty: renamed visible_markers_ -> hosted_markers_

Hosted markers are not neccessarily visible,
only if the corresponding namespace group is enabled.
2018-03-23 17:08:06 +01:00
Robert Haschke
ceaf896bf8 position scene node w.r.t. fixed frame 2018-03-23 11:22:23 +01:00
Robert Haschke
0494f1c93b [Tree|Flat]MergeProxyModel: cleanup index mapping when removing rows 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
3adc516037 fixed spurious rviz crash? 2018-02-25 20:28:13 +01:00
Robert Haschke
12582f6bbc SerialContainer: don't consider failures for solutions 2018-02-25 20:01:43 +01:00