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
6d859840c3
fix interface detection for nested SerialContainers
2018-03-23 09:18:21 +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
da9cdb5cf6
PropertyMap: different exception types
...
undeclared
undefined
type_error
2018-02-24 13:42:18 +01:00
Robert Haschke
cf54024379
fix derivation of propagation direction from connect stage
2018-02-24 13:42:12 +01:00
Robert Haschke
6a3456f961
unittest ContainerBasePrivate::position()
2018-02-24 13:42:12 +01:00
Robert Haschke
9cd6efe46f
Stage::init(PlanningScene) -> Stage::init(RobotModel)
2018-02-24 13:37:50 +01:00
Robert Haschke
35f1540369
recursive interface auto-detection
...
trigger auto-detection from top (task) level:
only there we now for sure the accepted interface
2018-02-19 01:05:56 +01:00
Robert Haschke
f45a4e3e2c
improve validation
...
- postpone pruning / interface auto-detection to top task-level
only the task state knows for sure, that it requires its wrapped child to push to both ends
- perform connectivity validation only after pruning
only then, we the interfaces are completely determined
2018-02-19 01:05:56 +01:00
Robert Haschke
a523333ef6
basic auto-detection of interfaces for propagating stages
...
works if propagation direction can be derived from a generator or
connecting stage within the sequence
start-to-end propagation through whole serial container still fails
2018-02-18 21:23:12 +01:00
Robert Haschke
ec2b06292e
extended unittest for serial connection validation
2018-02-18 14:03:57 +01:00
Robert Haschke
2ea463fff4
replace std::cout with ros console
2018-02-16 16:01:05 +01:00
Robert Haschke
eaaaf07214
exploit default argument for Interface constructor
2018-02-12 23:39:46 +01:00
Robert Haschke
3a4dc6755b
Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties'
2018-02-12 23:35:01 +01:00
Robert Haschke
fe2c4f312e
serialize stage properties
2018-02-12 22:45:15 +01:00
Robert Haschke
c3eead0115
allow only a single inititialization source
2018-02-12 22:45:15 +01:00
Robert Haschke
c84fa4cdd6
cost ordered API
2018-02-12 22:36:12 +01:00
Robert Haschke
97bb6ef2c6
allow handling of failures
...
- store "failure" solutions to facilitate debugging
- Introspection assigns solution IDs as soon as they are created in a stage
Thus, solution IDs represent their creation order.
In contrast, the order of publishing (in StageStatistics) should
represent the cost order.
- Storing failures is disabled if Introspection is not available.
2018-02-12 22:35:58 +01:00
Robert Haschke
fe05894709
renamed GenerateGraspPose::setGraspFrame() to setToolToGraspTF()
2018-02-04 09:01:45 +01:00
Robert Haschke
0918ad6897
implement IK as separate stage
...
... wrapping another stage
2018-02-04 09:01:45 +01:00
Robert Haschke
e4ad7a0753
removed Stage::validate()
...
... only was checking for implies(a, a) which is always true
2018-02-04 09:01:45 +01:00
Robert Haschke
41ec46964a
more unit tests
2018-02-04 08:56:11 +01:00
Robert Haschke
f2b688d1f0
generalize GenerateGraspPose
...
replacing scalar graspOffset and hard-coded Euler angles with arbitrary graspFrame
2018-02-03 21:45:40 +01:00
Robert Haschke
7d8f8dfc8d
PropertyMap
2017-12-13 14:19:20 +01:00
Robert Haschke
9c5ddd3f6d
split repo into different ROS packages: msgs, core, visualization
2017-11-12 21:42:48 +01:00