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
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
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