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