Commit Graph

1001 Commits

Author SHA1 Message Date
Robert Haschke
2cf4f8f046 Drop breathe (not working) and directly link doxygen docs 2022-11-27 01:19:56 +01:00
Robert Haschke
c9ba6918c8 GHA: Build and deploy documentation 2022-11-27 01:19:56 +01:00
Robert Haschke
954089eae4 Merge PR #99: Python API
... based on pybind11
2022-11-22 21:24:17 +01:00
Robert Haschke
c1df1fbee8 [Container|Task]::add(...) for sequence (python) 2022-11-22 21:22:29 +01:00
Robert Haschke
164ce4eab8 clang-tidy: fix variable/method naming 2022-11-03 18:30:21 +01:00
Robert Haschke
7d5f9fe6e3 Fix clang-tidy warnings 2022-11-02 18:44:38 +01:00
Robert Haschke
f88e25fe74 Merge PR #380: Fix Cartesian interpolation
Correctly consider an offset transform from link to reference frame,
such that rotations w.r.t. the reference frame don't move its origin.
2022-11-01 23:51:53 +01:00
Robert Haschke
0c9524930a CI: stricter warnings 2022-11-01 23:41:17 +01:00
Robert Haschke
d66b2262ed Rename variables in visualizePlan()
- link_pose -> start_pose
- pos_link -> pos_start
2022-10-31 19:53:07 +01:00
Robert Haschke
32d3454c1f Fix getRobotTipForFrame()
When passing the root frame, getRigidlyConnectedParentLinkModel() returns
a nullptr for robot_link, causing a segfault.
Actually, we don't need to use that method at all. We just need to find
the robot_link of an associated body.
2022-10-31 19:53:07 +01:00
Robert Haschke
fd123cc4a7 Fix handling of ik_frame in Cartesian path planning
The ik_frame should move in a straight-line Cartesian path.
However, so far the link frame was following a Cartesian path.
2022-10-31 19:53:07 +01:00
Robert Haschke
ec366b26ee MoveRelative: Correctly compute motion transform
The twist motion performs an angular rotation about the given axis _and_
the origin of ik_frame as well as a linear translation.
Both transforms are expressed w.r.t. the model frame and thus require
left-multiplication to ik_frame's current pose.
2022-10-31 19:53:07 +01:00
Robert Haschke
076957d4dc Simplify MoveRelative 2022-10-31 19:53:07 +01:00
Robert Haschke
402d6a4bfe Improve unittest for move_relative 2022-10-31 19:53:07 +01:00
Robert Haschke
64a8df1fde Merge CI fixes/improvements 2022-10-24 10:21:34 +02:00
Robert Haschke
4c9b16511b Hopefully fix spurious test failure 2022-10-24 10:21:28 +02:00
v4hn
c60cd6c86f Avoid unused-parameter warnings 2022-10-24 10:21:28 +02:00
Robert Haschke
5a30f8a8a7 Suppress unused-function warning 2022-10-24 10:08:26 +02:00
v4hn
2b2689e8d7 Use catkin_INCLUDE_DIRS as system includes
... to suppress warnings outside the code base
2022-10-24 10:07:38 +02:00
Robert Haschke
28fb974adb Remove MoveIt compatibility code 2022-10-23 22:16:58 +02:00
v4hn
6df359ed3b Do not dictate C++ standard
C++14 is default in clang/gcc anyway and latest log4cxx requires C++17.
Qt on Ubuntu 18.04 sets C++11. Hence we use MoveIt's cmake macro to ensure C++14 at least.
2022-10-23 22:15:23 +02:00
Niklas Fiedler
30512bcbb4
Report 1st collision pair for invalid IK solutions (#376) 2022-07-22 13:38:05 +02:00
Jafar
e923fbc0c6
Fix Task's move constructor (#371)
* Add unit test
* Fix TaskPrivate's move assignment operator
* Slightly simplify code

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
2022-06-14 22:13:19 +02:00
Wyatt Rees
60229db010
Add KinematicsQueryOptions property in CartesianPath solver (#370) 2022-06-03 19:39:51 +03:00
Robert Haschke
d2918f130d
Pruning: Relax too strong assertion: PRUNED => !ARMED (#340) 2022-05-08 11:56:17 +02:00
Robert Haschke
9026ac8746
Make TimeParamerization configurable (#339) 2022-05-08 11:54:05 +02:00
Christian Petersmeier
e57d198dd7 Use verbose delimiters for source code instead of line numbers 2022-03-10 13:46:01 +01:00
Robert Haschke
813d9a7de7 Simplify file names, move tutorials into subfolder 2022-03-10 13:33:10 +01:00
Christian Petersmeier
60bc5262f5 PickPlace tutorial, stage extension howto guide 2022-03-10 13:33:10 +01:00
Christian Petersmeier
13128390b6 add cartesian and first steps tutorials 2022-03-10 13:33:10 +01:00
Christian Petersmeier
f082fb772b Add property tutorial, restructure tutorial files 2022-03-10 13:33:10 +01:00
Christian Petersmeier
1f330bed89 Reformat Documentation
- create tutorial, how-to-guide, topic and reference chapters
  - move implementation examples from api documentation into
    how-to-guides
  - create a documentation overview on the first page
2022-03-10 13:33:10 +01:00
Robert Haschke
940a843f05 Rework stages doc 2022-03-10 13:33:06 +01:00
Robert Haschke
096c671887 Pruning: Relax too strong assertion: PRUNED => !ARMED
If two Connect stages are sequenced, both sides can become ARMED.
However, that means that the wave of PRUNED status updates, shouldn't
overwrite a present ARMED state.
Added unit test.
2022-03-04 15:01:19 +01:00
Robert Haschke
8d7225d3b6 Connect: better document suppressing recursive loop 2022-03-04 15:01:19 +01:00
v4hn
6d104e837e polish: FixedState supports collision checking 2022-03-04 14:41:00 +01:00
v4hn
0a3dd3a314 properly set comment markAsFailure without prior comment 2022-03-04 14:39:53 +01:00
Robert Haschke
5310f9063a operator<< for Interface::Direction 2022-03-04 13:13:01 +01:00
Robert Haschke
ee7cec2aab FixedState: ignore_collisions=false
Check collisions for FixedState's scene and report failure if needed.
Optionally, disable the check via the property ignore_collisions=true.
2022-03-03 17:01:34 +01:00
Robert Haschke
6ffc508225 Finetune solvers documentation 2022-03-03 10:50:30 +01:00
Robert Haschke
e77fa83a42 Rework core documentation 2022-03-03 10:50:30 +01:00
Christian Petersmeier
9103af2704 Rework python documentation 2022-03-03 10:50:30 +01:00
Robert Haschke
95f24747b0 Pick+Place: Correctly configure forwarding of "pregrasp" property
... from Grasp to UnGrasp stage
2022-03-03 10:50:30 +01:00
Robert Haschke
d90b566b08 GeneratePlacePose: Remove property "ik_frame" from stage
- Instead, set ik_frame property on solution from passed object (frame).
- Allow subframes to be used as "object" frames
2022-03-03 10:50:30 +01:00
Robert Haschke
ca38d11303 Enable InterfaceState's copy operator 2022-02-02 20:51:58 +01:00
Robert Haschke
4b9e85395d Fix pre-commit: python formatting 2022-01-07 16:20:42 +01:00
Robert Haschke
b28290c5b9 Rework doc for properties.cpp
- Use simple description strings
  Only for multi-line doc strings, use C++11 raw string syntax `R"(...)"`
- Auto-generate signature
- Name arguments via `py::arg()`
2022-01-07 16:20:42 +01:00
Robert Haschke
11686468ad Update rosdoc + sphinx config 2022-01-07 16:20:42 +01:00
Robert Haschke
cfcc7ba112 Improve top-level descriptions 2022-01-07 16:20:42 +01:00
Robert Haschke
603e337c77 fix typo 2022-01-07 16:20:42 +01:00
Robert Haschke
d732bfe3eb Fix demo/scripts/fixed_state.py 2022-01-07 16:20:42 +01:00
cpetersmeier
1b1dadb94a core python docs
- add python docs to core classes
    - rework whats included in the docs and what not
2022-01-07 16:20:42 +01:00
cpetersmeier
923022c13b stages docs and bindings
- pybind bindings for all the examples
    - correctly format docstrings
2022-01-07 16:20:42 +01:00
cpetersmeier
f7c2fadde6 core docs, mwe monitoring generator 2022-01-07 16:20:42 +01:00
cpetersmeier
65bc0a8703 expand core docs, add detailed examples 2022-01-07 16:20:42 +01:00
cpetersmeier
4f53663756 add docstrings and mwe's 2022-01-07 16:20:42 +01:00
cpetersmeier
5207a8b2b5 comply to google format + add docstrings 2022-01-07 16:20:42 +01:00
cpetersmeier
0e7f2d5981 add docstrings, custom signatures 2022-01-07 16:20:42 +01:00
cpetersmeier
d1c947c973 add python docstrings 2022-01-07 16:20:42 +01:00
cpetersmeier
136c5c425e sphinx configuration
- Remove warning, originating from intersphinx configuration.
- Add .rst files for the api documentation.
2022-01-07 16:20:42 +01:00
Robert Haschke
a08face4a0 Fixup: Provide wrapper for moveit::core::MoveItErrorCode 2022-01-07 16:20:04 +01:00
Robert Haschke
86093be94a Merge branch 'master' into wip-python-api 2022-01-07 16:20:00 +01:00
Robert Haschke
b2c990b675 core: export rviz_marker_tools dependency 2022-01-07 14:35:15 +01:00
Robert Haschke
c7b2067b86 Merge PR #309: Fix Pruning 2022-01-05 20:19:51 +01:00
Robert Haschke
5956e70956 Merge PR #311: fix Fallbacks 2022-01-05 19:49:38 +01:00
Robert Haschke
4cc1f567d6 FallbacksPrivateConnect
Implement Fallbacks behavior for children of type Connecting.
All other connect-like children are currently infeasible to handle,
because we cannot forward a single job, i.e. a pair (from, to)
to the next child, but only individual states.
However, passing states, will cause creation of undesired state pairs
as jobs in subsequent children.
2022-01-05 18:16:34 +01:00
Robert Haschke
7a04a9f603 ParallelContainerBasePrivate::propagateStateTo*All*Children
rename method to emphasize that state updates are propagated to all children
2022-01-05 16:45:57 +01:00
Robert Haschke
986d3c8766 FallbacksPrivateCommon: shared between Generator + Propagator 2022-01-05 16:45:57 +01:00
Robert Haschke
b82b70ed64 FallbacksPrivate::nextChild()
... factoring out functionality shared between FallbacksPrivateGenerator
and FallbacksPrivatePropagator to switch to next child in nextJob().
2022-01-05 16:37:46 +01:00
Robert Haschke
7af3d8ebd7 Improve readability 2022-01-05 16:37:46 +01:00
Robert Haschke
b2c116edab reset(new Interface()) -> std::make_shared<Interface>() 2022-01-05 16:37:46 +01:00
Robert Haschke
442d39ad3e Improve comments 2022-01-05 16:37:46 +01:00
Robert Haschke
b2056745a8 Generalize connectStageInsideFallbacks
Let's consider the following simple situation, where generators produce solutions in the given order.

GEN           1 3
Fallbacks     |X
GEN           2 4

When passing state 4 to the Fallbacks' connector, it forms pending pairs with both 1 and 3.
Thus, the container needs to check whether 1-4 or 3-4 was processed when receiving a success or failure,
to correctly forward the failed one to the next child.
2022-01-05 16:37:46 +01:00
Robert Haschke
184fab8e0a GeneratePlacePose: add property 'allow_z_flip' 2022-01-04 15:58:19 +01:00
Robert Haschke
9630f4d789 ComputeIK: Improve markers
- always provide eef markers (also in case of success)
- tint failures in red
- use different names for "ik frame" and "target frame" markers
- reduce code duplication
2022-01-04 15:57:34 +01:00
Robert Haschke
91fe791bdb Add comment 2022-01-04 15:12:06 +01:00
Robert Haschke
72510818c8 Export libmoveit_python_tools.so 2022-01-04 15:11:23 +01:00
Jafar Abdi
7dbe0b87e1
Return MoveItErrorCode from task::plan (#319)
... to know whether the plan failed due to timeout, preemption, or actual planning failure
2022-01-02 15:32:37 +01:00
v4hn
84f96ec74c MoveRelative: Interpret direction relative to IKFrame
bugfix
2021-12-20 10:19:52 +01:00
v4hn
191ff253fd add tests for MoveRelative 2021-12-20 10:19:52 +01:00
Robert Haschke
4be448641f Improve debug output
- printChildrenInterfaces(): fix/add usage
- printPendingPairs(): full colorization according to status
2021-11-28 18:28:20 +01:00
Robert Haschke
b4a9e2033d
Stage::reset() should reset total_compute_time_ (#310) 2021-11-25 19:47:00 +03:00
Robert Haschke
e296bd7aed Simplify: job_has_solutions_
Just set a flag when we received a full solution
2021-11-25 07:37:28 +01:00
Robert Haschke
7237e81547 Rework FallbacksPrivate*
Further factorize and simplify FallbacksPrivate classes employing ideas from @v4hn.
The key difference between the variants his how they advance to the next job.
Thus, the only virtual method required is nextJob().
2021-11-25 07:36:32 +01:00
Robert Haschke
070c6e9ab6 Disable failing test FallbacksFixtureConnect.connectStageInsideFallbacks
... as we are now missing the implementation for CONNECT interfaces
2021-11-25 07:35:28 +01:00
Robert Haschke
8dd8022ef9 Factorize implementation of FallbacksPrivate into 3 classes 2021-11-24 21:17:49 +01:00
Robert Haschke
e67b3252fc static TaskPrivate::swap() -> ContainerBasePrivate::operator=()
- Enable moving/swapping of other container impls (e.g. Fallbacks)
- Clarify (via move semantics) that content of source impl will be lost
- Get rid of friend declarations
2021-11-24 21:17:49 +01:00
Robert Haschke
c822fd3822 Remove logger configuration
Logger config can be more easily handled via ROSCONSOLE_CONFIG_FILE.
2021-11-24 15:08:20 +01:00
Robert Haschke
a0bc0602e8 Enable tests
Adapt test results FallbacksFixturePropagate.computeFirstSuccessfulStagePerSolutionOnly
due to 2e63c154aa:

The order of computations has changed, because we lock the processed state
as soon as it is forwarded to the first fallback child.

In this case, after processing GEN1 und FWD1 once, we have the two states with costs 2, 4 in the queue.
The first one, i.e. with cost 2 is forwarded to the child FWD2, which fails.
In the next cycle, although we have new states in the queue (1, 2, 3, 4), we stick with state "2"
and forward it two FWD3, which adds costs 210, resulting in 212.

With previous code, the Fallback container switched to state "1", forwarded to FWD2.
2021-11-24 15:07:21 +01:00
Robert Haschke
2e63c154aa Reintroduce pending state 2021-11-22 01:39:45 +01:00
Robert Haschke
5c235ab580 debugging helper function 2021-11-22 01:39:45 +01:00
Robert Haschke
dcb6857f36 Simplify computePropagate()
- Drop variable current_external_state_
- Instead encode the info that the external state wasn't yet forwarded to any child via stage = children().cend()
- If all children have exhausted their solutions for this state, it is removed from the pending list
2021-11-22 01:39:45 +01:00
Robert Haschke
c33b1967bc Handle updates on external states 2021-11-22 01:36:34 +01:00
Robert Haschke
e5b20ac11f Fix pruning
Pruning - if acting on the external state - needs to pass the current stage (this).
2021-11-22 01:36:34 +01:00
Robert Haschke
6653c4853a Rename: computeFromExternal -> computePropagate 2021-11-22 01:36:34 +01:00
Robert Haschke
b783173b27 GENERATE: return correct canCompute() result as early as possible
Moving to next child generator only in compute() requires an extra call
to canCompute() to notice the failure of the next generator(s).
2021-11-22 01:35:34 +01:00
Robert Haschke
aef991602f Propagate either STATUS or PRIORITY updates into a container 2021-11-22 00:12:50 +01:00
Robert Haschke
a48b932dce Distinguish STATUS and PRIORITY updates in notify() callbacks
to allow propagating status updates only if the STATUS actually changed.
2021-11-21 15:05:29 +01:00
Robert Haschke
fdd5ff880b templatize: pullInterface(dir) -> pullInterface<dir>()
Also remove unused pushInterface(dir)
2021-11-21 14:15:59 +01:00
Robert Haschke
a31e52dd53 Propagate status across Connecting gap
Not only propagate updates along solution paths, but also bridge
the gap of a `Connecting` stage.

- If a state becomes enabled, re-enable opposite `ARMED` states as well.
- If a state becomes pruned, also prune opposite states if they don't have alternatives.
- Make sure that we don't run into a recursive update loop by disabling notify() callbacks.
2021-11-21 14:15:59 +01:00
Robert Haschke
3648db43ed Never overwrite ARMED with PRUNED 2021-11-21 14:00:50 +01:00
Robert Haschke
9d37495c0b Recombine both variants of Interface::updatePriority()
As only the InterfaceState* variant is actually called,
we can drop the splitting introduced for performance reasons in
29d1e44c5d
2021-11-21 14:00:50 +01:00
Robert Haschke
ffb8598363 Recursively prune new CONNECT state if there is no enabled opposite
This also requires to drop the assertion in SerialContainer::onNewSolution()
that new solutions will have enabled start+end states (a CONNECT stage's solution might not).
2021-11-21 14:00:50 +01:00
Robert Haschke
ab9af6a0fa Recursively re-enable states when matching an ARMED state 2021-11-21 14:00:50 +01:00
Robert Haschke
3c4ef68dbe Rename Interface::Status FAILED -> ARMED
... to better indicate that such a state can be immediately re-enabled.
2021-11-21 14:00:50 +01:00
Robert Haschke
1dda3d14d8 Switch order of function declarations
... to avoid explicit template initialization
2021-11-20 06:24:19 +01:00
Robert Haschke
52dc494525 Fix test Pruning.NoPruningIfAlternativesExist 2021-11-20 06:24:19 +01:00
Robert Haschke
06ae5ddf9c Fix hasPendingOpposites()
- Switch directions: FORWARD <-> BACKWARD to make the function reusable for status propagation.
- We need to ignore the source state when looking for opposite states of the target state.
  Thus add both, source and target state arguments.
2021-11-20 01:24:29 +01:00
Robert Haschke
29d1e44c5d Rework updatePriority() functions
- Centrally distinguish between have owner() or not in InterfaceState::updatePriority()
- Have a separate updateStatus() method to just update the pruning status
- Split Interface::updatePriority() into a method taking the InterfaceState*
  and one taking an Interface::iterator (for efficiency)
- Early return in container.cpp's updateStatePrios()
2021-11-19 23:03:15 +01:00
Robert Haschke
4170a1c93a Drop unused and misleading Direction enums 2021-11-19 23:03:15 +01:00
Robert Haschke
1ddf7dd3f0 Never remove pending CONNECT pairs
Both, failed and pruned states might get re-enabled later!
This also required rework (simplification) of the sorting function for pending pairs.
2021-11-19 23:03:15 +01:00
Robert Haschke
97c2130404 Improve readability 2021-11-19 21:49:44 +01:00
Robert Haschke
718170ab1e Always skip pruning if there exist alternative enabled solutions 2021-11-19 21:49:44 +01:00
Robert Haschke
c617e3353d Disable failing tests 2021-11-19 21:46:09 +01:00
Robert Haschke
011e4be059 Add more pruning tests 2021-11-19 09:42:30 +01:00
Robert Haschke
66e141db7b Fix printChildrenInterfaces() 2021-11-19 09:42:30 +01:00
v4hn
b675876d3b add debug logs to pruning code 2021-11-16 22:52:06 +01:00
JafarAbdi
2d775ffe28 GeneratorMockup: Add solutions_per_compute argument 2021-11-16 22:51:29 +01:00
v4hn
887da5b094 fix fallbacks logic
Setting up a demo for
Fallbacks({CartesianPath,PTP,RRTConnect})
I found the logic did not work as expected yet.

- process last job spec as well
- ignore failures when looking for a solution
- add more debug output
2021-11-15 09:29:09 +01:00
v4hn
22809c04a5 order external states 2021-11-15 09:29:09 +01:00
v4hn
9a583ab006 run only one compute step per call
Note that while this ensures other stages outside the Fallbacks container
can compute as well, it does not solve the problem internally.
A new incoming state will only ever be considered once
the current stage cannot compute any more.

We have no way of telling a child to compute for *a specific state* for now.
So once we copied a state to its interface we have to let it compute until
all possibilities are exhausted to detect whether or not it could generate a solution for it.
If we wouldn't do so, there were no way of knowing when to fall back
to the next child as long as the stage can still compute on *any* copied solution.
2021-11-15 09:29:09 +01:00
v4hn
5a9cfc50ea cleanup: get rid of superfluous parameter 2021-11-15 09:29:09 +01:00
v4hn
aa733fcf5f simplify onNewFailure
give an elaborate reason for an empty overload that doesn't call the parent.
2021-11-15 09:29:09 +01:00
v4hn
3d5cecd753 fallback generator can run a single job per compute call 2021-11-15 09:29:09 +01:00
v4hn
8719b1c3d6 Implement state-wise Fallbacks
Keep the previous logic around for Generator stages.
Note that this only makes sense for *pure* Generators and not for MonitoringGenerator,
because for the latter we would expect monitored solutions to be passed individually
(similar to pruning).
2021-11-15 09:29:09 +01:00
v4hn
f32e747645 add hook to ParallelContainerBase to customize state propagation 2021-11-15 09:29:09 +01:00
v4hn
3b835986e3 refactor logic to handle ik_frame
fallbacks and verification.
2021-11-12 14:02:46 +01:00
v4hn
f1fc447e3b establish utils namespace
leaves us a place to put free helper functions
2021-11-10 14:36:58 +01:00
v4hn
48959c6806 add compat header to cmake
previous oversight
2021-11-10 14:35:25 +01:00
v4hn
0f53db5f12 simplify parameter-free lambdas
I just didn't know the syntax was allowed
2021-11-10 13:33:26 +01:00
Robert Haschke
01d0cf9a13 Extend mtc_add_test() macro to handle rostest as well 2021-11-10 13:14:04 +01:00
v4hn
ef27a6eb22 ComputeIK supports attached-object ik frame 2021-11-10 13:14:04 +01:00
v4hn
e1216aa8ab MoveTo supports attached objects&subframes for ik frame 2021-11-10 13:14:04 +01:00
v4hn
aee76fee5e add move MoveTo tests
(partially disabled because broken)
2021-11-10 13:12:21 +01:00
v4hn
86fe752d43 InterpolationPlanner: implement simple IK-based solver for pose targets 2021-11-10 13:12:21 +01:00
v4hn
ef86799f27 add some tests for MoveTo 2021-11-10 13:12:21 +01:00
v4hn
dfe746b9bb FixedState: add optional scene in constructor 2021-11-10 13:12:21 +01:00
v4hn
e60a9793f1 fix test helper
never unload the plugin loader before the plugins (IK plugins here).
We don't have unrelated loaders in gtest executables, so the static should be fine.
2021-11-10 13:12:21 +01:00
Robert Haschke
d6f68f9254 Simplify code
We know that trajectory at least comprises the start state.
Thus, we don't need the sanity checks.
2021-11-10 12:11:39 +01:00
Michael Görner
7ec874572c move to tf2_eigen everywhere (#301) 2021-10-18 23:34:29 +02:00
v4hn
55e30e26ce split off pruning tests
yes, most pruning happen along children of a serial container,
but children for many tests comprise a lot of other containers as well.

- migrated pruning tests from Connect to ConnectMockup (as the concrete implementation
is not relevant for them)

- added missing header to stage_mockups.h
2021-10-04 23:06:13 +02:00
v4hn
9428c83ba5 consolidate test base 2021-10-04 23:06:13 +02:00
Michael Görner
8b2ac94609
define core tests through macros (#299)
Maybe it makes sense to define this in an exported config,
but then why bother until someone needs it.
2021-10-04 22:27:34 +02:00
Michael Görner
e89c68ced0
Merge pull request #294 from v4hn/pr-fallbacks-split-tests
new set of fallback tests
2021-09-20 23:13:10 +02:00
Robert Haschke
9da3a8055e Optimize setStatus(): only escalate to parent interface at boundaries of a partial solution
In all other cases internalToExternalMap().find(s) will fail anyway.
2021-09-20 23:07:00 +02:00
v4hn
35560d897d DISABLED -> PRUNED
This makes the semantics much clearer as states can only be disabled by pruning.
2021-09-20 23:07:00 +02:00
v4hn
d143dd7076 simplify exception handling
This could have been done already back when `runCompute` was introduced.
Wrapping the calls in try/catch comes from the previous implementation directly
calling `compute()`.
2021-09-20 23:07:00 +02:00
v4hn
1e10aaccfd Connecting: add another ROS_DEBUG hint
These can facilitate debugging a lot for little overhead.
2021-09-20 23:07:00 +02:00
v4hn
40b00c61d2 DISABLED_FAILED -> FAILED
Failed states are *not* disabled, they just failed connecting (for now).
2021-09-20 23:07:00 +02:00
v4hn
3b9f6ee519 add todo 2021-09-20 23:07:00 +02:00
v4hn
dbfa7e2b8a disable currently failing tests
They will be enabled when the corresponding functionality is merged.
2021-09-20 15:11:13 +02:00
Robert Haschke
35dc037365 Add more fallback tests 2021-09-20 14:52:15 +02:00
Robert Haschke
4e0f295d1e Replace std::list<double>() with PredefinedCosts() 2021-09-20 14:50:13 +02:00
Robert Haschke
61496fecd3 Simplify tests by introducing EXPECT_COSTS() 2021-09-20 14:50:03 +02:00
v4hn
61399d6d23 fixup & extend fallback tests 2021-09-20 14:49:01 +02:00
v4hn
a582fe8297 add another non-trivial test for a reliable fallbacks container 2021-09-20 14:42:55 +02:00
v4hn
b61e045f2c add a test for generator-fallbacks 2021-09-20 14:42:48 +02:00
v4hn
f75a498f55 fallbacks: add a test to use fallbacks *per state*
The current implementation will not fall back for each state
independently, but is meant to stay with the first child producing
a solution. For propagators, this is problematic though
as the picked child depends on the (arbitrary) first received state.

Instead, fallbacks should pass each state to each child separately
until one produces a solution for it (or all are exhausted).
2021-09-20 14:42:42 +02:00
v4hn
2bee9d5f66 rearrange fallback test fixtures 2021-09-20 14:42:35 +02:00
v4hn
5d9efc3b2b fallback tests: use fixture 2021-09-20 14:42:26 +02:00
v4hn
001eadaf3d move fallback to separate test 2021-09-20 14:42:20 +02:00
v4hn
14380c5552 add another test to cover both cases for failing children 2021-09-20 14:42:14 +02:00
v4hn
3244ac92b1 disable ConnectStageInsideFallbacks
This should work, but will require more changes.
2021-09-20 14:42:08 +02:00
Robert Haschke
c6cdd1a970 Fix test Fallback.ActiveChildReset 2021-09-20 14:41:51 +02:00
j-kuehn
f6eadb3fc4 add unit tests for Fallbacks container 2021-09-20 14:41:42 +02:00
Robert Haschke
d0ab3c3703
Improve readability of internal-external bimap using tags (#293) 2021-09-16 13:52:34 +02:00
v4hn
06b3df9c30 split assert
so that it becomes obvious which condition triggered it.
2021-09-01 14:53:52 +02:00
v4hn
fa8d21741c print debug message in runCompute
so that it prints from all containers
2021-09-01 14:53:14 +02:00
v4hn
f51f6eb982 address interface changes for object poses in MoveIt
Also include a check for the new object pose field in `Connecting::compatible()`.
2021-08-23 00:33:37 +02:00
v4hn
0273aec83e remove dirty MOVEIT_MASTER-check
... in favor of checking version numbers.
Checking for one header was used for multiple independent things.
In theory we could do exact feature testing instead of using the next release number,
but in practice nobody cares about the individual commits between older releases.
2021-08-23 00:06:42 +02:00
v4hn
6b4eae9d51 ComputeIK: spawn failures with correct states
Otherwise all failures look correct in the introspection.

That was a stupid oversight at some point.
2021-08-21 22:15:21 +02:00
v4hn
ff86217f9a do not modify scene in isTargetPoseColliding
Especially, do not create a custom scene at all.
The method only affects a RobotState.

Fixes https://github.com/ros-planning/moveit_task_constructor/issues/209
2021-08-21 22:15:12 +02:00
v4hn
74d33c4ec0 Merge different mockup implementations
Co-authored-by: Jascha Kühn <57101356+j-kuehn@users.noreply.github.com>
2021-07-07 14:25:42 +02:00
v4hn
4b1f240c21 test_container: correctly initialize robot_model
The local mocks do not care, but leaving a dangling nullptr
leads to segfaults with refactoring/new tests. :-)
2021-07-07 14:25:42 +02:00
v4hn
062c127b86 better API comments for StageCallback 2021-06-15 09:49:05 +02:00
Captain Yoshi
64b65e4eca
GenerateGraspPose: Handle RobotState.msg as pregrasp property (#275)
Co-authored-by: v4hn <me@v4hn.de>
2021-06-15 07:51:18 +02:00
Robert Haschke
ced362f5f6 Merge branch 'master' into wip-python-api 2021-06-11 09:57:55 +02:00
Robert Haschke
244c999514 Skip some python tests on incompatible pybind11 versions
If MoveIt and MTC use incompatible versions of pybind11, the tests
will fail because MoveIt objects like RobotModel or PlanningScene
cannot be passed to MTC objects and vice versa.
2021-06-10 19:31:05 +02:00
Robert Haschke
e3ee75dc16 Fix utf8 encoding 2021-06-10 12:06:22 +02:00
v4hn
0e40b464ec support TYPED_TEST_SUITE
Get rid of deprecation warning if new variant exists.
2021-06-04 14:19:52 +02:00
v4hn
1f51124ae5 add missing virtual destructor to CostTerm
Correctly pointed out by the clang-tidy CI.
2021-06-04 14:19:52 +02:00
v4hn
9d53987e53 satisfy clang-tidy & -Werror -Wall -Wextra 2021-06-04 14:19:52 +02:00
Robert Haschke
437cc550f2 Add missing semicolons after cleanup of MoveIt 2021-05-29 00:38:43 +02:00
Michael Görner
84d668b0d5
Split ClassLoader plugin code from main libraries (#271)
to work around https://github.com/ros/class_loader/issues/131
2021-05-29 00:38:02 +02:00
v4hn
059a939203 Fix test: correctly reset Interface 2021-05-28 00:20:07 +02:00
v4hn
58b1a020b5 Fix memory leak in unit test 2021-05-28 00:19:45 +02:00
Robert Haschke
f070247a25 Fix compiler warnings 2021-05-27 22:24:29 +02:00
j-kuehn
67fe4faa30 allow to consider specific joints only in cost terms 2021-05-25 15:47:18 +02:00
Robert Haschke
81fae53009 PyMonitoringGenerator 2021-05-21 12:20:54 +02:00
Robert Haschke
9f7139f376 Fix names of trampoline classes
Using template names T is not a good idea, because this name is used
verbatim for some error reporting, resulting e.g. in:
Tried to call pure virtual function "T::canCompute"
2021-05-21 11:40:12 +02:00
Robert Haschke
0967aa808b Update pybind11 submodule 2021-05-21 01:55:39 +02:00
Robert Haschke
1e7fe85573 smart_holder: conservative mode
... to become compatible with classical pybind11 modules, e.g. the MoveIt packages
2021-05-21 01:55:39 +02:00
Robert Haschke
7d0b6da04f Generator::spawn() 2021-05-21 01:55:39 +02:00
Robert Haschke
a03ea5a4a9 Use pybind11's smart_holder branch 2021-05-20 03:56:47 +02:00
Robert Haschke
defe144b55 Use py:overload_cast<>() 2021-05-20 03:52:32 +02:00
Robert Haschke
fc0abe9dd9 Merge branch 'master' into wip-python-api 2021-05-20 03:49:52 +02:00
Robert Haschke
3c286b2226 Augment license/disclaimer 2021-05-19 23:04:44 +02:00
Robert Haschke
f006ff7a37 Allow casting of PoseStamped from string 2021-05-19 23:04:44 +02:00
Robert Haschke
84ccd679d9 Fix compiler warnings
unused parameters and functions
2021-05-19 21:54:48 +02:00
v4hn
7eb8fad57e remove unused helper method 2021-05-12 19:21:19 +02:00