Commit Graph

113 Commits

Author SHA1 Message Date
Robert Haschke
4b56770d50 Task wraps a container 2017-10-20 16:40:11 +02:00
Robert Haschke
b944450736 Task: allow multiple solution callbacks 2017-10-20 16:40:11 +02:00
Robert Haschke
97bed73a9a weak_ptrs for prev_ends_ and next_starts_ 2017-10-20 16:40:11 +02:00
Robert Haschke
f103341356 separate reset() + init()
deducedFlags() -> interfaceFlags()
removed announcedFlags()
2017-10-20 16:40:11 +02:00
Robert Haschke
43bcf99222 init() throws InitStageException 2017-10-20 16:40:11 +02:00
Robert Haschke
68ff79f464 setup SerialContainer interface 2017-10-20 16:40:11 +02:00
Robert Haschke
bc5c76578e connect and validate chain 2017-10-20 16:40:11 +02:00
Robert Haschke
b967e8231b publish solutions again 2017-10-20 16:40:11 +02:00
Robert Haschke
6167f728ed wip 2017-10-20 16:40:11 +02:00
Robert Haschke
f6a40a4a02 fixup! containers
accidentally committed sandbox
2017-10-20 16:40:11 +02:00
Robert Haschke
51e4bba212 sendForward(), sendBackward() use InterfaceState for both from and to arguments 2017-10-16 17:19:03 +02:00
Robert Haschke
a7de95932e moved InterfaceFlag(s) into main scope 2017-10-16 09:24:21 +02:00
Robert Haschke
a32007613e renamed subtask -> stage 2017-10-16 09:24:21 +02:00
Robert Haschke
3cc112fe2c cleanup container
- removed friends + mutable
- simplified SerialContainer::canInsert()
2017-10-16 09:22:16 +02:00
Robert Haschke
dc9f553ab0 replaced IMPL macro 2017-10-16 09:22:16 +02:00
Robert Haschke
1b1a82f7c8 simplified SubTask API
- moved interface flags to private implementation
- moved newInputState() / newOutputState to private implementation
- directly implement sendBackward()/sendForward()
- removed scene_, planner_ from SubTaskPrivate
  ... replaced by init(scene) call
- renamings
  - array_type -> container_type
  - ...AnyWay -> ...EitherWay
  - input -> start
  - output -> end
2017-10-11 23:34:49 +02:00
Robert Haschke
c085534ea9 simplified API of SubTask specializations
- allow bidirectional Gripper
- implemented canInsert()
2017-10-11 22:43:55 +02:00
Robert Haschke
2bf66dc125 fancy print output based on interfaceFlags() 2017-10-04 00:11:22 +02:00
Robert Haschke
ce7d570459 pimpl_func() only in SubTask class 2017-10-04 00:11:22 +02:00
Robert Haschke
11b6dd2efd implement children_ as std::list
This provides a double-linked list already.
Now need to manually track predeccessors and successors.
2017-10-04 00:11:22 +02:00
Robert Haschke
bb06eda33c containers
- allow hierarchical organization of stages (serially for now)
- validate correctness of tree (at composition time, i.e. runtime)
- derive Task from SerialContainer
- fix pimpl_func(), PRIVATE_CLASS declaration in "public" section to allow access in tests
2017-10-04 00:11:22 +02:00
Robert Haschke
6a1eacb315 make headers visible in qtcreator 2017-09-30 22:10:51 +02:00
Robert Haschke
fcccbae408 specialised SubTask classes
SubTask cannot be instantiated directly, but only its derived classes
that specify the type of operation:

PropagatingAnyWay
PropagatingForward
PropagatingBackward
Connecting
Generator
2017-09-30 22:10:51 +02:00
Robert Haschke
f7fe7fc896 use namespace definitions 2017-09-30 21:44:57 +02:00
Michael Görner
bb1fcad44e Merge pull request #4 from ubi-agni/fix
fix for-loop argument types
2017-09-29 14:39:10 -07:00
Robert Haschke
7641e004d1 Merge branch 'master' into fix 2017-09-29 03:58:41 -07:00
Robert Haschke
4538d53bb2 fix for-loop argument types 2017-09-29 03:54:13 -07:00
v4hn
f7b6429a31 keep trailing underscore convention for class members 2017-09-29 00:18:53 -07:00
v4hn
e3df0133d5 reduce number of auto
Less auto is always better. Less smog so to speak...
2017-09-29 00:04:58 -07:00
Michael Görner
e45d7f95d6 Merge pull request #3 from ubi-agni/publish-plans
cleanup publish plans
2017-09-28 23:33:43 -07:00
Robert Haschke
2d5797d741 restore online publishing of new solutions 2017-09-28 20:35:44 -07:00
Robert Haschke
6d10f7e835 moved plan publishing into debug.cpp 2017-09-28 20:35:44 -07:00
Robert Haschke
fd62e46828 use namespace definitions 2017-09-28 20:33:42 -07:00
v4hn
cab3bba342 use const_cast instead of static_cast 2017-09-28 11:44:28 -07:00
Robert Haschke
d02816ef67 avoid double state update before collision check (#2) 2017-09-28 11:42:44 -07:00
Robert Haschke
a0928e21f9 remove flag from SubTrajectory
was used to indicate usage in publishPlans()
2017-09-28 00:03:47 -07:00
Robert Haschke
a5b7f0c2f3 fix publishing plans 2017-09-28 00:03:47 -07:00
v4hn
2dfc2f395e avoid shortened nested namespace definitions
`namespace X::Y { }` is only part of the C++17 standard.
I did not notice before because GCC 6+ do not warn about
this even with `-pedantic -std=c++14`.
2017-09-13 13:16:48 +02:00
v4hn
557b1cbe16 ur5 demo: max ik solutions is 8 with UR5 2017-09-13 12:10:15 +02:00
v4hn
f1039b8c14 ggp: add max_ik_solutions parameter
With 6DOF planning groups the user often knows an upper limit
on how many ik solutions there are.

Specifying the limit avoids looking for additional IK solutions until timeout.
2017-09-13 12:08:26 +02:00
v4hn
8501bb8ae1 ur5 demo: use negative delta 2017-09-13 12:01:06 +02:00
v4hn
988886d57c GGP: allow for negative deltas 2017-09-13 12:00:45 +02:00
v4hn
d2d93967ce consistency: Begin -> Beginning 2017-09-12 09:21:31 +02:00
v4hn
d801c4441c simplify interface
the currently-advertised version is a linear pipeline
and the graph-based version would still need some reworking,
so stick with simple "add".
2017-09-04 00:52:49 +02:00
v4hn
491098e0c3 use weak_ptr instead of raw pointer
Using shared_ptr, this is cleaner
2017-09-04 00:52:00 +02:00
v4hn
d33aec2715 fix typo 2017-09-03 18:44:35 +02:00
v4hn
789b94c2ac don't sleep after publishing solutions 2017-03-24 12:49:23 +01:00
v4hn
be4769c03c task: publish plans until now after each round of computation 2017-03-24 12:48:58 +01:00
v4hn
25fcc39a33 task: flag previously returned trajectories to return them only once
This required to move from RobotTrajectorys to SubTrajectorys in more
interfaces, as well as fewer const-changes to handle the flags.
2017-03-24 12:46:59 +01:00
v4hn
344713536d demo ur5: spawn object in the beginning 2017-03-24 12:43:43 +01:00