Commit Graph

1259 Commits

Author SHA1 Message Date
Robert Haschke
49b3bd0d56 ros1-0.1.0 2023-02-02 10:02:45 +01:00
Robert Haschke
93b46ef214 GeneratePose: forward registered properties from received solution 2023-01-28 12:01:45 +01:00
Robert Haschke
d9cff5510f Fix more -Wold-style-cast warnings 2023-01-05 16:24:02 +01:00
Robert Haschke
bd3a7d10a2 Fix name of test artifact 2023-01-05 12:43:58 +01:00
Robert Haschke
6362d8ec11 CI: Reorder steps 2023-01-05 12:43:02 +01:00
Robert Haschke
54579ca227 fixup! Fix clang-tidy warnings 2023-01-05 12:32:12 +01:00
Robert Haschke
91d9518d3c Replace namespace robot_model -> moveit::core 2023-01-05 03:14:11 +01:00
JafarAbdi
f055fabbd1 Fix clang-tidy warnings
- Replace old-style casts
- Fix missing initialization
2023-01-04 23:52:38 +01:00
Jochen Sprickerhof
770a8a0b17 Fix call of PropagatingEitherWay::computeGeneric()
computeGeneric is templated and private so it will be undefined in the
shared object and when using the computeForward/Backward functions.
2023-01-04 21:39:33 +01:00
Robert Haschke
f872d58520
Expose ContainerBase::childByIndex via operator[](int) (#413) 2022-12-12 20:44:37 +01:00
Robert Haschke
26c690c3b6 Merge PRs #412 (fix-ci) and #409 (more cost-terms) 2022-12-11 22:38:32 +01:00
Robert Haschke
33e9c5d212 Fix clang-tidy issues 2022-12-11 22:37:10 +01:00
Robert Haschke
8e83f2be63 CI: Limit "deploy doc" job to master branch 2022-12-11 21:34:53 +01:00
Robert Haschke
ced37a029c Update/Stick pybind11 to version 2.9.1-smart_holder
... to maintain compatibility with Python 3.6 and 2.7
2022-12-11 21:34:53 +01:00
Robert Haschke
7c35f6c580 Update/Stick pybind11 to version 2.9.1-smart_holder
... to maintain compatibility with Python 3.6 and 2.7
2022-12-11 17:42:07 +01:00
Robert Haschke
341f1838b5 Build python bindings with size optimization 2022-12-11 17:39:55 +01:00
Robert Haschke
4886fc3f7b Expose CostTerms to python 2022-12-11 17:39:55 +01:00
Robert Haschke
6de570c7a6 new TrajectoryCostTerm: DistanceToReference 2022-12-09 11:19:41 +01:00
Robert Haschke
a9b4947845 PathLength: allow weighting of different joints 2022-12-09 10:16:19 +01:00
Robert Haschke
de22cba99a Fetch pybind11 submodule if not yet present 2022-12-09 09:05:17 +01:00
Robert Haschke
0b132e6f65 CI: Use ubuntu-20.04
22.04 doesn't provide clang-format-10.
clang-format-12 is the latest support by 20.04, but this introduces some undesired reformatting.
2022-12-08 16:24:49 +01:00
Robert Haschke
274c75f68f Fix SimpleGrasp/SimpleUnGrasp wrapper
- Wrap common base class SimpleGraspBase to reduce redundancy
- Use correct defaults for stage name
2022-12-08 09:37:33 +01:00
Robert Haschke
7200bbbfb1 Fix base class for container stages Pick, Place, SimpleGrasp, SimpleUnGrasp 2022-12-08 08:59:41 +01:00
Robert Haschke
2cf4f8f046 Drop breathe (not working) and directly link doxygen docs 2022-11-27 01:19:56 +01:00
Robert Haschke
c9ba6918c8 GHA: Build and deploy documentation 2022-11-27 01:19:56 +01:00
Robert Haschke
54e766f139 Link presentation talks in README 2022-11-25 02:14:03 +01:00
Robert Haschke
954089eae4 Merge PR #99: Python API
... based on pybind11
2022-11-22 21:24:17 +01:00
Robert Haschke
c1df1fbee8 [Container|Task]::add(...) for sequence (python) 2022-11-22 21:22:29 +01:00
Robert Haschke
42835380bf Check for moveit::core::MoveItErrorCode::toString 2022-11-19 10:40:09 +01:00
Robert Haschke
e4c4224aa0 Fix syntax error 2022-11-18 12:59:10 +01:00
Robert Haschke
164ce4eab8 clang-tidy: fix variable/method naming 2022-11-03 18:30:21 +01:00
Robert Haschke
4f74af8fb7 Show clang-tidy results 2022-11-03 17:31:17 +01:00
Robert Haschke
1f1a4eb142 Revert "Disable identifier naming checks"
This reverts commit 38cc5613c0.
2022-11-03 17:12:32 +01:00
Robert Haschke
38cc5613c0 Disable identifier naming checks 2022-11-02 18:44:38 +01:00
Robert Haschke
f0a5785074 Disable clang-tidy checks generating false positives 2022-11-02 18:44:38 +01:00
Robert Haschke
7d5f9fe6e3 Fix clang-tidy warnings 2022-11-02 18:44:38 +01:00
Robert Haschke
7ff2f70b66 CI: make clang-tidy checks pedantic 2022-11-02 08:13:28 +01:00
Robert Haschke
f88e25fe74 Merge PR #380: Fix Cartesian interpolation
Correctly consider an offset transform from link to reference frame,
such that rotations w.r.t. the reference frame don't move its origin.
2022-11-01 23:51:53 +01:00
Robert Haschke
0c9524930a CI: stricter warnings 2022-11-01 23:41:17 +01:00
Robert Haschke
d66b2262ed Rename variables in visualizePlan()
- link_pose -> start_pose
- pos_link -> pos_start
2022-10-31 19:53:07 +01:00
Robert Haschke
32d3454c1f Fix getRobotTipForFrame()
When passing the root frame, getRigidlyConnectedParentLinkModel() returns
a nullptr for robot_link, causing a segfault.
Actually, we don't need to use that method at all. We just need to find
the robot_link of an associated body.
2022-10-31 19:53:07 +01:00
Robert Haschke
fd123cc4a7 Fix handling of ik_frame in Cartesian path planning
The ik_frame should move in a straight-line Cartesian path.
However, so far the link frame was following a Cartesian path.
2022-10-31 19:53:07 +01:00
Robert Haschke
ec366b26ee MoveRelative: Correctly compute motion transform
The twist motion performs an angular rotation about the given axis _and_
the origin of ik_frame as well as a linear translation.
Both transforms are expressed w.r.t. the model frame and thus require
left-multiplication to ik_frame's current pose.
2022-10-31 19:53:07 +01:00
Robert Haschke
076957d4dc Simplify MoveRelative 2022-10-31 19:53:07 +01:00
Robert Haschke
402d6a4bfe Improve unittest for move_relative 2022-10-31 19:53:07 +01:00
Robert Haschke
64a8df1fde Merge CI fixes/improvements 2022-10-24 10:21:34 +02:00
Robert Haschke
b69366456d Fix TaskListModelTest.deletion: run required Qt event loop 2022-10-24 10:21:28 +02:00
Robert Haschke
4c9b16511b Hopefully fix spurious test failure 2022-10-24 10:21:28 +02:00
v4hn
c60cd6c86f Avoid unused-parameter warnings 2022-10-24 10:21:28 +02:00
Robert Haschke
5a30f8a8a7 Suppress unused-function warning 2022-10-24 10:08:26 +02:00