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
v4hn
f7015ee021
fix pick_ur5 test
...
TAMS' models changed and often produces less solutions.
2021-05-12 19:21:19 +02:00
j-kuehn
d71c645d83
add visualization for Point goals ( #264 )
...
- move visualization from `getPoseGoal` to `compute`
- create target frame from `target_eigen` to allow visualization from Pose and Point goals
2021-05-11 10:53:15 +02:00
j-kuehn
ba0b4f6146
Improve arrow visualization for MoveRelative stage ( #255 )
...
Implement visualization as red-green arrow
* overload makeArrow to allow creation with points
* create new function for visualization
* if no plan is found, construct arrow from green cylinder and red arrow
* adjust arrow construction for backward propagators
2021-05-03 21:29:05 +02:00
Robert Haschke
cfcb1f274e
Fix more clang-tidy issues
2021-04-24 02:12:24 +02:00
Robert Haschke
4fa8c10f44
clang-tidy auto-fixes
2021-04-24 02:03:24 +02:00
Robert Haschke
889b61529b
Fix trailing white space
2021-04-23 23:49:50 +02:00
Robert Haschke
dc8cd34b86
Simplify tests
2021-04-01 00:21:07 +02:00
v4hn
4e09d78239
Implement pruning inside-to-outside of a container
...
- Remove public onNewFailure() interface
Moved to ContainerBasePrivate to reuse logic for serial and parallel containers.
- Add tests
2021-04-01 00:19:15 +02:00
Robert Haschke
a204d94a19
Configure namespace package
2021-03-31 00:19:51 +02:00
Robert Haschke
5b4ca1d21a
Rename wrapper -> bindings
2021-03-31 00:19:51 +02:00
Robert Haschke
045b358c30
rosdoc_lite configuration
2021-03-31 00:19:51 +02:00
Robert Haschke
3cf92442fb
Simplify generation of pybind11 modules
...
* Install module libs into CATKIN_GLOBAL_PYTHON_DESTINATION (assuming unique names).
This avoids the need to link them into the source space, because they are found also from devel space.
* Use pybind11's def_submodule() to create the `core` and `stages` submodules,
everything linked into the same lib
2021-03-31 00:19:51 +02:00
Robert Haschke
d9b7aa37a3
clang-format python wrapping code
2021-03-31 00:19:51 +02:00
cpetersmeier
14e06659d5
Towards inherited classes in Python
2021-03-31 00:19:51 +02:00
v4hn
472a78800d
implement bimap for internal_external state map
...
Get hashing for inverted lookups, but incur
structural overhead.
Whether this is worth it depends on the number of mapped interface states
and the number of pruning/reactivation requests.
2021-03-30 15:19:49 +02:00
Robert Haschke
0e3ec0b6ec
fix constness
2021-03-30 15:19:49 +02:00
v4hn
106c138ef5
Implement pruning inside serial container
...
By inefficient inverse lookup.
Also add disabled test for the inverted inference (failure inside should prune outside)
2021-03-30 15:19:49 +02:00
Michael Görner
36d9d3e8c0
Rework PipelinePlanner creation ( #249 )
...
- Moved Task::createPlanner into PipelinePlanner::create
- Handle mutiple planner pipeline configs as introduced in https://github.com/ros-planning/moveit/pull/2127
2021-03-29 12:00:28 +02:00
Robert Haschke
4ee71881ae
Rework Pruning ( #221 )
2021-03-23 13:04:38 +01:00
Michael Görner
f2958a4a0b
Explicitly instantiate PropagatingEitherWay::send<> templates ( #246 )
...
Otherwise compiler was optimizing (inlining) them away.
2021-03-23 11:37:30 +01:00
v4hn
b7f80939ef
add more asserts to onNewSolution
...
Strictly speaking there is no need for the invariant,
but if something violates it a stage computed something it wasn't meant to.
2021-03-22 14:42:23 +01:00
v4hn
3b6c13e26b
only run propagators on enabled solutions
...
resolve simple pruning test
2021-03-22 14:42:23 +01:00
v4hn
3e5e1da429
add (failing) simple pruning test
...
to validate propagators do not compute disabled solutions.
It's also good to have a simpler test around than 2 connects.
2021-03-22 14:42:23 +01:00
v4hn
9cf3c01b9a
pruning tests: restructure tests
2021-03-22 14:42:23 +01:00
v4hn
be1c8292b5
add more (commented-out) debug statements
...
Also print generator symbol for completeness.
2021-03-22 14:42:23 +01:00
v4hn
e33962364d
resolve PruningMultiForward test
...
Every InterfaceState along the partial solution has to be disabled
for pruning, not just the ends that are currently relevant.
2021-03-22 14:42:23 +01:00
v4hn
f8f885966e
add failing pruning test for branching propagator
2021-03-22 14:42:23 +01:00
v4hn
a82b88355e
streamline trait parameters
...
state asked for a reference, but trajectories for a pointer.
2021-03-22 14:42:23 +01:00
v4hn
bca01e8aa7
rename Status values
...
Start and End are already used for an entirely different concept,
so if anyone ever wants to read this code, we should use new terms instead.
Because the source state is the disabled state that *failed* to extend,
triggering the whole subtree to be disabled, I went for the new terms
DISABLED and DISABLED_FAILED.
2021-03-22 14:42:23 +01:00
Robert Haschke
c0100ff775
Remove debug output
2021-03-22 14:42:23 +01:00
Robert Haschke
d3864596b6
Replace Priority::enabled() with status()
...
The key to pruning in the Connecting stage was the following:
- Don't remove states during pruning, but only disable them.
They might become re-enabled due to further input.
- Distinguish START and END sides of a disabled solution tree to break their symmetry.
The START side from where we started disabling, can be re-enabled by a new partner state in
Connecting, the END side must not. This was important as, otherwise, the states would simply
get re-enabled immediately. The END side only gets re-enabled if the START side actually
connects the whole solution branch.
2021-03-22 14:42:23 +01:00
Robert Haschke
f229743024
Debug evolution of interfaces
2021-03-22 14:42:23 +01:00
Robert Haschke
9466517f72
operator<< for Interface + Priority
...
Co-authored by v4hn
2021-03-22 14:42:23 +01:00
Robert Haschke
7c6eb1c0f3
Extend unit tests: PruningForward + PruningBackward
2021-03-22 14:42:23 +01:00
Robert Haschke
604a0da1e4
Actually implement pruning and re-enabling of states
2021-03-22 14:42:23 +01:00
Robert Haschke
19484cec64
Restore pruning
...
If a stage fails to find a solution, this often implies that further planning
on the open end(s) of connected InterfaceStates is not needed anymore.
Thus the InterfaceStates along all connected solution paths will be marked as disabled.
They are not removed from the pending state lists though, because they might get
reactivated by solutions found in future.
To this end, we introduced the method ContainerBase::onNewFailure().
2021-03-22 14:42:23 +01:00
Robert Haschke
6c18e2b482
test comparison of ConnectingPrivate's StatePairs
2021-03-22 14:42:23 +01:00
Robert Haschke
2a09daa42f
InterfaceState::Priority::enabled()
...
To allow pruning, we need to enable and disable InterfaceStates to be considered for further
planning. In the past, we just indicated the disabled status with infinite costs.
However, because we might need to re-enable states (with previous state),
we need to separate these two concepts.
2021-03-22 14:42:23 +01:00
cpetersmeier
6ab50fcc40
PythonWrapper: Use collective includes
2021-03-19 18:39:47 +01:00
Robert Haschke
1f5c684909
Simplify wrapper code
2021-03-19 18:39:47 +01:00
Robert Haschke
d7d54d828f
Access to container's children
2021-03-19 18:39:47 +01:00
Robert Haschke
fd25a0626a
auto-format python code with black
2021-03-19 18:39:44 +01:00
Robert Haschke
10f6b7a58e
MoveTo/MoveRel: reduce code duplication
...
... using templated versions for computeForward + computeBackward
as they essentially perform the same operations.
2021-03-19 18:22:04 +01:00
Robert Haschke
dfffd77eee
MoveTo/MoveRel: Report errors via solution comments instead of ROS_WARN
2021-03-19 18:22:04 +01:00
Robert Haschke
5de9ce7203
Perform clang-format check via github action from pre-commit.com
2021-03-15 14:29:19 +01:00
Robert Haschke
0b63c590c5
Replace MoveIt! -> MoveIt
2021-03-15 14:29:19 +01:00
v4hn
3d8faea079
add test to validate correct solution state in computeCost
...
This is somewhat cumbersome because of the additional internal/external
layer introduced through the container.
But it's still better than leaving this unverified.
2021-03-05 14:38:29 +01:00
v4hn
f4fb8c6f71
fix computeCost interface (again)
...
Fixes the missing creator pointer introduced in a6a23d3775
2021-03-05 14:38:23 +01:00
v4hn
629d266fbc
remove leftover joint counting
...
Not used anywhere
2021-03-05 14:38:14 +01:00
v4hn
f7a94956c3
output stream formatting for InterfaceState::Priority
2021-03-05 14:38:06 +01:00
Robert Haschke
a6fa45214f
Remove return value from Container::insert
...
adapted Container::add
Logical consequence of removing the ROS_ERROR output in `setParent`
2021-02-24 12:22:38 +01:00
v4hn
4386d0cc60
remove roscpp as an export dependency for the core package
...
We do use ROS in the background. But there is no need for a public export dependency on it.
This patch also resolves the following catkin_lint issue:
moveit_task_constructor_core: CMakeLists.txt(17): error: package 'roscpp' must be in CATKIN_DEPENDS in catkin_package()
2021-02-24 12:22:38 +01:00
Robert Haschke
f2d2cf10f0
Fallback: Correctly end iterating children
...
Fixes #234
2021-02-17 21:17:05 +01:00
Robert Haschke
f99d03386a
Use RobotModelBuilder to simplify tests ( #225 )
...
* Simplify RobotModel definition using RobotModelBuilder
* Silent RobotModel errors once in models.cpp
2020-12-30 11:07:57 +01:00
Jafar Abdi
8a913d8bf3
getTaskId(): Replace '-' in hostname with '_' ( #223 )
2020-12-15 20:39:01 +01:00
Robert Haschke
9f18219993
minor cleanups
...
* unify usage of pimpl()
* fix StatePair constructors
* improve/add comments
* test_container: reset MOCK_ID for each test to facilitate identification of stages
2020-12-06 23:55:58 +01:00
Robert Haschke
0925031a81
Propagating: disable infeasible state pruning
...
Because stages might get re-enabled later, we must not throw them away.
Remove dropFailedStarts(), dropFailedEnds().
Extend Pruning unittest.
2020-12-06 23:55:10 +01:00
Robert Haschke
a6a23d3775
Remove set[Start|End]StateUnsafe
...
These methods were introduced to temporarily set meaningful states for cost calculation
w/o connecting the solution to these temporary states (to solve a chicken-egg problem).
This commit provides TmpInterfaceStateProvider as an alternative approach to this problem.
This essentially reverts 53c0964618 .
2020-12-06 04:11:35 +01:00
Robert Haschke
c8e75ab205
Simplify SolutionCollector
2020-12-06 04:11:35 +01:00
Robert Haschke
576a1aa48d
Remove default constructor for Priority
...
It's better to explicitly state the initial value.
2020-12-06 04:11:35 +01:00
Robert Haschke
56ad37d80e
Provide move constructor for InterfaceState
...
The code was tuned to move InterfaceStates around, but there wasn't the matching constructor!
2020-12-06 04:11:35 +01:00
Robert Haschke
bc25c5e3c1
Modernize: require cmake version 3.1.3
2020-12-06 04:11:35 +01:00
Robert Haschke
5d4cf640ef
Fix issues #182 + #218
2020-12-06 04:10:47 +01:00
Robert Haschke
a9cd4e3281
Connect: Decouple subsolutions of SolutionSequence from external interface states
2020-12-06 04:09:59 +01:00
Robert Haschke
f05b08fa8a
SerialContainer: Simplify solution traversal
...
Compute depth + accumulated cost of a partial solution sequence using InterfaceState::Priority.
2020-12-06 04:09:59 +01:00
Robert Haschke
11647fd3e5
Connect: mark failures in sub solutions of a sequence
2020-12-06 04:09:59 +01:00
Robert Haschke
c73c0c3555
Interface::updatePriority(): only allow decrease
2020-12-06 04:06:08 +01:00
Robert Haschke
08dc19f7b3
Fix cost calculation
...
The default CostTerm should rely on precomputed costs. Only, if a CostTerm is explicitly defined
for a particular stage, it should modify costs.
2020-12-06 04:06:08 +01:00
Robert Haschke
66fdff9711
Simplify state priority updates
...
Only need to update the end points of a partial solution.
2020-12-06 04:06:08 +01:00
Robert Haschke
5fd98ce307
SerialContainer tests
2020-12-06 04:06:08 +01:00
Robert Haschke
fe189cd692
Test Interface::updatePriority()
2020-12-06 04:06:08 +01:00
Robert Haschke
b2adcf0247
Python3 compatibility
2020-11-30 13:34:33 +01:00
Robert Haschke
c97b462024
migration: boost::python -> pybind11
2020-11-30 13:34:33 +01:00
Robert Haschke
8433e460e4
Merge branch 'master' into wip-python-api
2020-11-26 12:05:03 +01:00
cpetersmeier
012a10be25
StagesWrapper: Python Function Bindings
...
Add python bindings for
- SimpleGrasp::setIKFrame
- Pick::setApproachMotion
- Pick::setLiftMotion
2020-11-26 11:47:20 +01:00
Robert Haschke
bfa2a6070d
MoveTo: Publish failed planning attempts
2020-10-30 00:44:51 +01:00
Robert Haschke
ae843a784e
Merge PR #214 (fix various issues) and #215 (rework rviz introspection)
2020-10-24 04:45:53 +02:00
Robert Haschke
cf5031e89d
Create task-specific ServiceClients to fetch solutions
...
This finally allows to have multiple tasks publishing in the same namespace.
2020-10-24 04:43:30 +02:00
Robert Haschke
b91d87c6eb
IntroSpection: indicateReset() on disable
2020-10-24 04:43:30 +02:00
Robert Haschke
8b1c66c4b7
Allow naming a Task
...
which just names the top-level container
2020-10-24 04:43:30 +02:00
Robert Haschke
c471879b08
Rename process_id -> task_id
2020-10-24 04:43:30 +02:00
Robert Haschke
b071a059f9
Rename TaskPrivate::id -> TaskPrivate::ns
...
TaskPrivate's id_ actually served as a namespace parameter.
2020-10-24 04:43:30 +02:00
Robert Haschke
3a7a4eb953
Connect: Fix segfault when accessing solutions from multiple plan() calls
...
Connect::init() was resetting its dynamically created JMG merged_jmg_,
thus invalidating all previous solutions. Only reset the JMG in reset().
2020-10-24 03:23:19 +02:00
Robert Haschke
cb0f20cad7
Improve task unittests
2020-10-24 03:22:46 +02:00
Jafar Abdi
be270cb574
Task: Add ability to set timeout ( #213 )
...
Task::setTimeout will allow setting an overall timeout.
2020-10-24 03:22:05 +02:00
cpetersmeier
ede5fe396f
StagesWrapper: Add std::map setGoal overload.
...
Adding a further overload of the `setGoal()` function that is exposed to
the python api. This should provide an interface for passing in dicts as
joint name and -angle configurations.
2020-10-21 16:45:05 +02:00
Robert Haschke
d3b878a31c
Fix issues with Merger stage
2020-09-23 08:00:42 +02:00
Robert Haschke
88c217e9a6
Report exceptions (e.g. config issues)
2020-09-23 07:59:39 +02:00
Robert Haschke
7499f7b297
Report merge failures
2020-09-23 07:59:39 +02:00
Robert Haschke
14fc3d2586
Reject failures early
2020-09-23 07:59:39 +02:00
Robert Haschke
49b2ff8ce5
Test Merger
2020-09-22 11:06:34 +02:00
Robert Haschke
745d6739bd
fix typo
2020-09-22 11:06:01 +02:00
Robert Haschke
8152994e52
Fix interface resolution
2020-09-22 10:57:49 +02:00
Robert Haschke
4089d5eefa
Container::remove(): return removed Stage
2020-09-22 10:56:11 +02:00
Robert Haschke
198f8f5389
clearer naming of cost variables
2020-09-21 22:52:19 +02:00
v4hn
04a8afb16c
melodic compatibility
2020-09-21 22:52:19 +02:00
v4hn
5d0fd57754
initialize default CostTerm in constructor
...
It seems to be too fragile to rely on `init` being called.
On the other hand we should really enforce this anyway. -.-
2020-09-21 22:52:19 +02:00