Robert Haschke
449ccf55c6
merge WrapperBase + Wrapper into WrapperBase
...
Wrapper is not restricted to generator-type stage anymore.
2018-02-12 23:39:46 +01:00
Robert Haschke
032a4e23c1
derive WrapperBase from ParallelContainerBase
2018-02-12 23:39:46 +01:00
Robert Haschke
1ab2d596fb
ContainerBasePrivate::liftSolution()
2018-02-12 23:39:46 +01:00
Robert Haschke
919be24d16
implement ParallelContainerBase
2018-02-12 23:39:46 +01:00
Robert Haschke
a3a8f1a9d2
improved directional (forward/backward) access to interfaces
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- TraverseDirection -> Interface::Direction
- StagePrivate: pullInterface(), pushInterface()
- trajectories<dir>(SolutionBase) -> SolutionBase::trajectories<dir>()
2018-02-12 23:39:46 +01:00
Robert Haschke
73f509c3ba
simplify usage of ContainerBasePrivate::copyState()
2018-02-12 23:39:46 +01:00
Robert Haschke
eaaaf07214
exploit default argument for Interface constructor
2018-02-12 23:39:46 +01:00
Robert Haschke
cf71d2f0d2
unify use of buffer interfaces in containers
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All containers need to buffer their children's sendBackward/sendForward states.
2018-02-12 23:39:46 +01:00
Robert Haschke
3a4dc6755b
Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties'
2018-02-12 23:35:01 +01:00
Robert Haschke
fe2c4f312e
serialize stage properties
2018-02-12 22:45:15 +01:00
Robert Haschke
5ff78f653e
signal callback function
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... to allow for syncing with rviz::Property
2018-02-12 22:45:15 +01:00
Robert Haschke
c3eead0115
allow only a single inititialization source
2018-02-12 22:45:15 +01:00
Robert Haschke
5c43d700a8
update state priorities in a container-specific fashion
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Reorder interface list on priority updates.
This requires the InterfaceState to store a pointer to the owning Interface.
2018-02-12 22:44:18 +01:00
Robert Haschke
facd6438c9
Interface: order states by priority
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Priority is (depth of solutions, accumulated cost along trace).
2018-02-12 22:44:18 +01:00
Robert Haschke
d0351698a6
single map internal_to_external
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There is no need to distinguish between starts and ends when mapping
states, because start/end states need to be disjoint sets.
2018-02-12 22:44:18 +01:00
Robert Haschke
e6af069139
SerialContainer: traverse solutions w/o stopping stage
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Always traverse from current solution to the start/end of a complete
path and only call the callback once for the whole trace.
2018-02-12 22:44:18 +01:00
Robert Haschke
6a62f6be76
default argument for NotifyFunction in Interface constructor
2018-02-12 22:44:18 +01:00
Robert Haschke
244a7d147b
sort serial solutions before insertion
2018-02-12 22:36:58 +01:00
Robert Haschke
29577515a0
cost ordering for solutions
2018-02-12 22:36:56 +01:00
Robert Haschke
c84fa4cdd6
cost ordered API
2018-02-12 22:36:12 +01:00
Robert Haschke
1403fc9830
fixed some clang warnings
2018-02-12 22:36:12 +01:00
Robert Haschke
2184450bd6
count all failures for statistics
2018-02-12 22:36:12 +01:00
Robert Haschke
7a13d79bc4
example setting solution markers
2018-02-12 22:36:12 +01:00
Robert Haschke
97bb6ef2c6
allow handling of failures
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- store "failure" solutions to facilitate debugging
- Introspection assigns solution IDs as soon as they are created in a stage
Thus, solution IDs represent their creation order.
In contrast, the order of publishing (in StageStatistics) should
represent the cost order.
- Storing failures is disabled if Introspection is not available.
2018-02-12 22:35:58 +01:00
Robert Haschke
57cd11e3a9
Wrapper::compute: return true if new solutions are found
2018-02-12 22:33:39 +01:00
Robert Haschke
38f7696acf
ComputeBase::addTrajectory -> ComputeBasePrivate::addTrajectory
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Forbid indirect access to trajectories_.
Only official compute classes have access.
2018-02-12 22:33:39 +01:00
Robert Haschke
5c1cad14df
Merge branches 'fixes', 'wip-drag-n-drop', 'wip-ikstage' and 'wip-marker-vis'
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resolved conflicts:
core/include/moveit/task_constructor/container.h
core/src/container.cpp
core/src/stages/generate_grasp_pose.cpp
visualization/motion_planning_tasks/src/task_display.cpp
visualization/motion_planning_tasks/src/task_panel_p.h
2018-02-04 21:36:01 +01:00
Robert Haschke
17683b12c9
more exported stage plugins: CurrentState
2018-02-04 21:30:25 +01:00
Robert Haschke
736136dd9f
collision test for ee group
2018-02-04 09:01:45 +01:00
Robert Haschke
3fd096c8e6
fix IK stage: insert different solutions as different scenes
2018-02-04 09:01:45 +01:00
Robert Haschke
57d907908d
better names for frame and transform variables
2018-02-04 09:01:45 +01:00
Robert Haschke
fe05894709
renamed GenerateGraspPose::setGraspFrame() to setToolToGraspTF()
2018-02-04 09:01:45 +01:00
Robert Haschke
0918ad6897
implement IK as separate stage
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... wrapping another stage
2018-02-04 09:01:45 +01:00
Robert Haschke
b6959170db
derive WrapperBase from ContainerBase
...
While ParallelContainers can directly promote their child solutions as
their own, a Wrapper needs to modify those solutions. Hence, Wrappers
should be derived directly from Container.
2018-02-04 09:01:45 +01:00
Robert Haschke
e4ad7a0753
removed Stage::validate()
...
... only was checking for implies(a, a) which is always true
2018-02-04 09:01:45 +01:00
Robert Haschke
104e52eb48
promise to not modify solutions
2018-02-04 09:01:45 +01:00
Robert Haschke
f8952bb712
introducing process_id
...
The task id was not unique enough to distinguish different tasks.
When a task publisher is killed and restarted, it usually comes up with
the same task id. However, visualization doesn't notice this change and
get confused / crashes when receiving task statistics and solutions.
2018-02-04 09:01:40 +01:00
Robert Haschke
01d43e3f3b
marker_tools
2018-02-04 09:00:54 +01:00
Robert Haschke
0e8dd85ae6
allow stages to access the created SubTrajectory
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to add markers, set name, etc.
2018-02-04 09:00:54 +01:00
Robert Haschke
e9363919e8
Merge branch 'wip-properties'
2018-02-04 08:59:35 +01:00
Robert Haschke
41ec46964a
more unit tests
2018-02-04 08:56:11 +01:00
Robert Haschke
3ab899a9a8
cleanup error handling
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throw std::logic_error on type errors
throw std::runtime_error on undeclared property
don't expose generic PropertyMap::declare()
2018-02-04 08:56:11 +01:00
Robert Haschke
c9e3be08d0
fix initialization order of properties
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First from INTERFACE, second from PARENT.
INTERFACE initialization only makes sense for Propagating stages.
Connecting stages should ensure that interfaces define identical
properties which is not possible with boost::any.
2018-02-04 08:56:11 +01:00
Robert Haschke
4db7e8eb88
definition of PropertyInitializerSource moved to Stage
2018-02-04 08:56:11 +01:00
Robert Haschke
f6253c46a4
generalize initialization source from enum to int
2018-02-04 08:56:11 +01:00
Robert Haschke
59fe1e7860
separate setValue() and setCurrentValue()
...
setValue() also updates the default value.
reset() reset to the default value.
setCurrentValue() only updates the current value, keeping current default.
Thus setCurrentValue() can be reverted (to default) using reset().
2018-02-04 08:55:58 +01:00
Robert Haschke
d62b85572a
remove property name from InitializerFunction's signature
2018-02-03 21:45:40 +01:00
Robert Haschke
0d6dbee215
initFrom() -> configureInitFrom() + performInitFrom()
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Use different function names for different semantics.
2018-02-03 21:45:40 +01:00
Robert Haschke
32a0de6bf3
countDefined(): count number of defined properties
2018-02-03 21:45:40 +01:00
Robert Haschke
f2b688d1f0
generalize GenerateGraspPose
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replacing scalar graspOffset and hard-coded Euler angles with arbitrary graspFrame
2018-02-03 21:45:40 +01:00