Commit Graph

1525 Commits

Author SHA1 Message Date
v4hn
8af44cefc3 add path constraints to planner API
and use it in the Connect class.

The cartesian planner ignores the constraints for now.
2018-03-26 09:50:17 +02:00
Robert Haschke
f0dc02e2c3 ContainerBasePrivate::position() -> childByIndex() 2018-03-26 00:24:25 +02:00
Robert Haschke
84f5c481be ContainerBasePrivate::position(): generically handle shifting 2018-03-26 00:24:25 +02:00
Robert Haschke
b15c5adbd7
Merge pull request #37 from ubi-agni/relative-markers
online update of relative markers
2018-03-26 00:20:14 +02:00
Robert Haschke
853fa86e37 switch markers when showing next subtrajectory 2018-03-26 00:14:32 +02:00
Robert Haschke
b316a2e9c4 allow marker pose updates during trajectory display
moved marker_visual_ from TaskDisplay to TaskSolutionVisualization
2018-03-26 00:14:32 +02:00
Robert Haschke
714117a48a reworked marker creation 2018-03-26 00:14:28 +02:00
Robert Haschke
ff0ee407ff remove tool_to_grasp_tf from SimpleGrasp 2018-03-25 06:07:53 +02:00
Robert Haschke
54e4d8eed7 remove tool_to_grasp_tf from GenerateGraspPose 2018-03-25 06:07:53 +02:00
Robert Haschke
12e134ad09 added disclaimer 2018-03-25 06:07:53 +02:00
Robert Haschke
893cb25b5b fix isTargetPoseColliding
- must not use new sandbox_scene (we want to display the place eef)
- jmg not needed anymore
2018-03-25 06:07:53 +02:00
Robert Haschke
c98f10478e frame marker at ik frame 2018-03-25 06:07:53 +02:00
Robert Haschke
5b6a02d105 rename reference frame -> ik frame 2018-03-25 06:07:53 +02:00
Robert Haschke
f497112513 consider reference_frame 2018-03-25 06:04:09 +02:00
Robert Haschke
7531b8ad54 allow arbitrary reference frame for target_pose and ik frame 2018-03-25 06:04:09 +02:00
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
f4adaa949a validate available properties during init() 2018-03-25 06:04:09 +02:00
Robert Haschke
01a2415149 fix travis: build not yet released dependencies 2018-03-25 05:53:17 +02:00
Robert Haschke
5a55a5949b Merge branches 'bug-fixes', 'gui' and 'pick-stage' 2018-03-24 07:32:20 +01:00
Robert Haschke
936681f4c3 allow arbitrary (planning scene) frames for markers 2018-03-24 07:31:30 +01:00
Robert Haschke
56c2ef3fbb save settings for solution sorting 2018-03-24 07:03:32 +01:00
Robert Haschke
a4fed6a18a MoveTo Cartesian: create marker frame at current and goal pose 2018-03-24 06:16:10 +01:00
Robert Haschke
cb38a87a73 CartesianPath: return a partial trajectory in case of failure 2018-03-24 06:16:10 +01:00
Robert Haschke
2451d0c4d5 save panel settings 2018-03-23 17:25:49 +01:00
Robert Haschke
3d07e34522 highlight currently active solution part 2018-03-23 17:25:49 +01:00
Robert Haschke
0fd5f3c1b3 auto-expand newly inserted task-pipelines 2018-03-23 17:25:49 +01:00
Robert Haschke
3ce0bc7dee MetaTaskListModel: don't remove top-level items 2018-03-23 17:25:49 +01:00
janEbert
1f6bea9438 icons to visualize logic flow 2018-03-23 17:25:49 +01:00
Robert Haschke
81d88911a9 cosmetic fixes 2018-03-23 17:18:56 +01:00
Robert Haschke
2331c9aef2 pick: expose IK link frame as eef_frame 2018-03-23 17:18:56 +01:00
Robert Haschke
1c61fb3b85 expose solvers 2018-03-23 17:18:56 +01:00
llach
ea6cc4b6bf moved "attach object" from "pick" to "grasp" stage 2018-03-23 17:18:56 +01:00
Robert Haschke
bffe5f9a55 position marker nodes w.r.t. planning frame 2018-03-23 17:08:06 +01:00
Robert Haschke
d816a13362 fix segfault: always createMarkers()
... to have all the scene nodes properly defined
in case namespace groups will be enabled later on
2018-03-23 17:08:06 +01:00
Robert Haschke
3fe3034410 MarkerVisualization: improve comments
- renamed showMarkers() -> addMarkers()
- MarkerVisualizationProperty: renamed visible_markers_ -> hosted_markers_

Hosted markers are not neccessarily visible,
only if the corresponding namespace group is enabled.
2018-03-23 17:08:06 +01:00
Robert Haschke
ceaf896bf8 position scene node w.r.t. fixed frame 2018-03-23 11:22:23 +01:00
Robert Haschke
0494f1c93b [Tree|Flat]MergeProxyModel: cleanup index mapping when removing rows 2018-03-23 11:22:23 +01:00
Robert Haschke
c2590636b1 fixup! SerialContainer: don't consider failures for solutions 2018-03-23 11:22:23 +01:00
Robert Haschke
862ac37cd6 fix ContainerBasePrivate::copyState(): don't copy (again) on update 2018-03-23 11:22:23 +01:00
Robert Haschke
b3af170663 reset num_failures_ 2018-03-23 11:22:23 +01:00
Robert Haschke
6b912c3531 MoveTo Cartesian Point: bug fix 2018-03-23 11:22:23 +01:00
Robert Haschke
6d859840c3 fix interface detection for nested SerialContainers 2018-03-23 09:18:21 +01:00
Robert Haschke
159beeb044 fix SerialContainer::canCompute() 2018-03-23 09:18:21 +01:00
Robert Haschke
bff6cc569c pick: reusable stage for picking up an object 2018-02-25 23:14:52 +01:00
Robert Haschke
d731e943f1 Merge branch 'parallel-container' 2018-02-25 23:12:35 +01:00
Robert Haschke
9545f92678 GenerateGraspPose::reset() 2018-02-25 23:11:55 +01:00
Robert Haschke
3adc516037 fixed spurious rviz crash? 2018-02-25 20:28:13 +01:00
Robert Haschke
12582f6bbc SerialContainer: don't consider failures for solutions 2018-02-25 20:01:43 +01:00
Robert Haschke
99adfaf454 fix ParallelContainers' init() 2018-02-25 13:22:26 +01:00