janEbert
3c77fd1325
add reference test for properties
2018-10-17 01:18:36 +02:00
Robert Haschke
4ac0b6e2c4
merge fixes
2018-10-16 23:22:10 +02:00
Robert Haschke
4cebd95468
Merge branch master into boost-python
2018-06-03 13:20:02 +02:00
Robert Haschke
d3fdee9095
expose solutions, publish + execute
2018-06-03 13:03:41 +02:00
Robert Haschke
c0a16971f4
remove redundant exposure of smart pointers
2018-06-03 13:03:41 +02:00
Robert Haschke
5e2bff59fc
cleanup Property access
2018-06-03 13:03:41 +02:00
Robert Haschke
d5c7bfb07e
cleanup
2018-06-03 13:03:41 +02:00
janEbert
e264bddc3e
PropertyMap iterator, PropertyMap.update(dict)
2018-06-03 13:03:41 +02:00
janEbert
2345b6c9a6
unit tests for all stages
2018-06-03 13:03:41 +02:00
janEbert
f15cbd7141
overload constructors
2018-06-03 13:03:41 +02:00
janEbert
93c62e833d
container wrappers
2018-06-03 13:03:41 +02:00
Robert Haschke
09b9698e7b
add ROS unittest
2018-06-03 13:03:41 +02:00
Robert Haschke
56546f190f
roscpp_init: provide init_options AnonymousName, NoRosout
2018-06-03 13:03:41 +02:00
janEbert
1f85b00e14
more wrappers, unittest, fixes
2018-06-03 13:03:41 +02:00
Robert Haschke
de9fa8405d
register ROS msg types with boost::python's type converters
2018-06-03 13:03:41 +02:00
Robert Haschke
f4ffccdc1f
handle std::unique_ptr<Stage>
...
Class holder needs to be a smart pointer, e.g. std::auto_ptr.
This can be released(), such that ownership can be passed.
Further, derived types need to be declared as implicitly_convertible to base type.
2018-06-03 13:03:41 +02:00
Robert Haschke
47a2a28698
cleanup, unittest for properties
2018-06-03 13:03:41 +02:00
Robert Haschke
ee13295c92
separate .core and .stages modules
2018-06-03 13:03:41 +02:00
Robert Haschke
e615b7c9da
local names for python wrapper libs
2018-06-03 13:03:41 +02:00
Robert Haschke
f7ddd43d53
cleanup folder structure
2018-06-03 13:03:41 +02:00
Robert Haschke
135c9c2148
solvers + stages
2018-06-03 13:03:41 +02:00
Robert Haschke
3ef0bd426b
Properties
2018-06-03 13:03:41 +02:00
janEbert
226b0b03b4
basic boost::python wrappers
2018-06-03 13:03:41 +02:00
Robert Haschke
3215880b98
Merge branches 'move-to', 'simple-grasp' and 'properties' into master
...
These branches only work together:
- MoveTo / MoveRelative: common handling of "goal" property
- properties: required changes to allow for multiple inheritance
- generalize SimpleGrasp / GenerateGraspPose
2018-06-03 11:38:50 +02:00
Robert Haschke
2e46082521
remove Container::exposePropertiesOfChild()
2018-06-03 11:36:50 +02:00
Robert Haschke
157caac385
generalize SimpleGrasp / GenerateGraspPose
...
- move "pregrasp", "grasp" property from SimpleGrasp to GenerateGraspPose
- Container::exposePropertiesOfChild: decouple exposure from inheritance
2018-06-03 11:36:50 +02:00
Robert Haschke
544f574166
MoveRelative: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
00260d62b5
MoveTo: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
941dee7fc1
exposeTo: const method
2018-06-03 09:22:06 +02:00
Robert Haschke
abc4c5de50
PropertyMap: allow any type
2018-06-03 09:18:37 +02:00
Robert Haschke
a8431ce661
Container::exposePropertiesOfChild: allow skipping of undefined props
2018-06-03 06:46:12 +02:00
Robert Haschke
0dab499533
Stage: generally allow forwarding of interface properties
2018-06-03 06:46:12 +02:00
Robert Haschke
92296e020f
SimpleGrasp(GraspGenerator)
...
allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
2018-06-03 06:46:12 +02:00
Robert Haschke
beffe27987
improve property debugging
2018-06-03 06:42:11 +02:00
Robert Haschke
cbb2cd69f7
property inheritance: both from PARENT and INTERFACE
...
- source_id -> source_flags: bits indicating configured paths
- initializers, e.g. fromName(), should throw
- ignore undeclared errors during inheritance
- on undefined error, reset the value to None
- override value only if previously set by lower-priority source
MANUAL > CURRENT > PARENT > INTERFACE
2018-06-03 06:36:15 +02:00
Robert Haschke
abea2ee82b
reuse boost::any's type_index type
2018-06-02 17:46:37 +02:00
Robert Haschke
2e9932cfbc
fix: don't report config issues as successful (but empty) solutions
2018-06-02 17:46:28 +02:00
v4hn
381210f43d
compatibility with boost 1.54
...
This is required for ROS indigo on ubuntu 14.04
2018-06-01 15:02:11 +02:00
Michael Görner
5739bf39d9
use correct frame in pick ( #52 )
2018-06-01 14:55:23 +02:00
v4hn
0091c76208
compute ik: ignore collisions skips early eef check
2018-06-01 11:34:07 +02:00
v4hn
4026661bfe
Rewrite and relax approx comparisons
...
This is more readable.
Adjusting the threshold to 1e-4 is required to allow for tolerances
in potential sampling planner steps in between.
2018-06-01 11:32:29 +02:00
v4hn
bd1edcbde7
add max_solutions param to plan()
...
For big problems you just don't want *all* solutions
2018-06-01 11:13:44 +02:00
Robert Haschke
ac1ccba883
minor formatting changes ( #51 )
2018-05-31 18:01:30 +02:00
Robert Haschke
b35aba6e19
validate merged trajectories
2018-05-30 21:23:34 +02:00
Robert Haschke
941e9df737
declare properties "timeout", "marker_ns" for all stages
2018-05-30 21:21:14 +02:00
Robert Haschke
c2dd28abae
rework storing of solutions
...
- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers
- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
allows for common handling of states of valid and failure solutions
- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*
2018-05-30 21:02:50 +02:00
v4hn
ae6b86c7d7
remove void line
...
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b
correctly reset FixedState
2018-05-30 21:02:03 +02:00
Robert Haschke
52fdf30433
simplify compute() API
...
- remove bool return value
- always create a solution trajectory, also in case of failures
- success/failure determined from solution.isFailure()
minor adjustments during cherry-pick
2018-05-30 21:01:34 +02:00
Robert Haschke
eb50aaed0e
SolutionBase: rename 'name' to 'comment'
2018-05-30 20:25:42 +02:00