Commit Graph

482 Commits

Author SHA1 Message Date
Robert Haschke
4fa8c10f44 clang-tidy auto-fixes 2021-04-24 02:03:24 +02:00
v4hn
4e09d78239 Implement pruning inside-to-outside of a container
- Remove public onNewFailure() interface
  Moved to ContainerBasePrivate to reuse logic for serial and parallel containers.
- Add tests
2021-04-01 00:19:15 +02:00
v4hn
472a78800d implement bimap for internal_external state map
Get hashing for inverted lookups, but incur
structural overhead.

Whether this is worth it depends on the number of mapped interface states
and the number of pruning/reactivation requests.
2021-03-30 15:19:49 +02:00
Robert Haschke
0e3ec0b6ec fix constness 2021-03-30 15:19:49 +02:00
v4hn
106c138ef5 Implement pruning inside serial container
By inefficient inverse lookup.

Also add disabled test for the inverted inference (failure inside should prune outside)
2021-03-30 15:19:49 +02:00
Michael Görner
36d9d3e8c0
Rework PipelinePlanner creation (#249)
- Moved Task::createPlanner into PipelinePlanner::create
- Handle mutiple planner pipeline configs as introduced in https://github.com/ros-planning/moveit/pull/2127
2021-03-29 12:00:28 +02:00
Robert Haschke
4ee71881ae
Rework Pruning (#221) 2021-03-23 13:04:38 +01:00
Michael Görner
f2958a4a0b
Explicitly instantiate PropagatingEitherWay::send<> templates (#246)
Otherwise compiler was optimizing (inlining) them away.
2021-03-23 11:37:30 +01:00
v4hn
b7f80939ef add more asserts to onNewSolution
Strictly speaking there is no need for the invariant,
but if something violates it a stage computed something it wasn't meant to.
2021-03-22 14:42:23 +01:00
v4hn
3b6c13e26b only run propagators on enabled solutions
resolve simple pruning test
2021-03-22 14:42:23 +01:00
v4hn
be1c8292b5 add more (commented-out) debug statements
Also print generator symbol for completeness.
2021-03-22 14:42:23 +01:00
v4hn
e33962364d resolve PruningMultiForward test
Every InterfaceState along the partial solution has to be disabled
for pruning, not just the ends that are currently relevant.
2021-03-22 14:42:23 +01:00
v4hn
a82b88355e streamline trait parameters
state asked for a reference, but trajectories for a pointer.
2021-03-22 14:42:23 +01:00
v4hn
bca01e8aa7 rename Status values
Start and End are already used for an entirely different concept,
so if anyone ever wants to read this code, we should use new terms instead.

Because the source state is the disabled state that *failed* to extend,
triggering the whole subtree to be disabled, I went for the new terms
DISABLED and DISABLED_FAILED.
2021-03-22 14:42:23 +01:00
Robert Haschke
c0100ff775 Remove debug output 2021-03-22 14:42:23 +01:00
Robert Haschke
d3864596b6 Replace Priority::enabled() with status()
The key to pruning in the Connecting stage was the following:
- Don't remove states during pruning, but only disable them.
  They might become re-enabled due to further input.
- Distinguish START and END sides of a disabled solution tree to break their symmetry.
  The START side from where we started disabling, can be re-enabled by a new partner state in
  Connecting, the END side must not. This was important as, otherwise, the states would simply
  get re-enabled immediately. The END side only gets re-enabled if the START side actually
  connects the whole solution branch.
2021-03-22 14:42:23 +01:00
Robert Haschke
f229743024 Debug evolution of interfaces 2021-03-22 14:42:23 +01:00
Robert Haschke
9466517f72 operator<< for Interface + Priority
Co-authored by v4hn
2021-03-22 14:42:23 +01:00
Robert Haschke
604a0da1e4 Actually implement pruning and re-enabling of states 2021-03-22 14:42:23 +01:00
Robert Haschke
19484cec64 Restore pruning
If a stage fails to find a solution, this often implies that further planning
on the open end(s) of connected InterfaceStates is not needed anymore.
Thus the InterfaceStates along all connected solution paths will be marked as disabled.
They are not removed from the pending state lists though, because they might get
reactivated by solutions found in future.

To this end, we introduced the method ContainerBase::onNewFailure().
2021-03-22 14:42:23 +01:00
Robert Haschke
2a09daa42f InterfaceState::Priority::enabled()
To allow pruning, we need to enable and disable InterfaceStates to be considered for further
planning. In the past, we just indicated the disabled status with infinite costs.
However, because we might need to re-enable states (with previous state),
we need to separate these two concepts.
2021-03-22 14:42:23 +01:00
Robert Haschke
10f6b7a58e MoveTo/MoveRel: reduce code duplication
... using templated versions for computeForward + computeBackward
as they essentially perform the same operations.
2021-03-19 18:22:04 +01:00
Robert Haschke
dfffd77eee MoveTo/MoveRel: Report errors via solution comments instead of ROS_WARN 2021-03-19 18:22:04 +01:00
Robert Haschke
5de9ce7203 Perform clang-format check via github action from pre-commit.com 2021-03-15 14:29:19 +01:00
Robert Haschke
0b63c590c5 Replace MoveIt! -> MoveIt 2021-03-15 14:29:19 +01:00
v4hn
f4fb8c6f71 fix computeCost interface (again)
Fixes the missing creator pointer introduced in a6a23d3775
2021-03-05 14:38:23 +01:00
v4hn
629d266fbc remove leftover joint counting
Not used anywhere
2021-03-05 14:38:14 +01:00
v4hn
f7a94956c3 output stream formatting for InterfaceState::Priority 2021-03-05 14:38:06 +01:00
Robert Haschke
a6fa45214f Remove return value from Container::insert
adapted Container::add

Logical consequence of removing the ROS_ERROR output in `setParent`
2021-02-24 12:22:38 +01:00
Robert Haschke
f2d2cf10f0 Fallback: Correctly end iterating children
Fixes #234
2021-02-17 21:17:05 +01:00
Jafar Abdi
8a913d8bf3
getTaskId(): Replace '-' in hostname with '_' (#223) 2020-12-15 20:39:01 +01:00
Robert Haschke
9f18219993 minor cleanups
* unify usage of pimpl()
* fix StatePair constructors
* improve/add comments
* test_container: reset MOCK_ID for each test to facilitate identification of stages
2020-12-06 23:55:58 +01:00
Robert Haschke
0925031a81 Propagating: disable infeasible state pruning
Because stages might get re-enabled later, we must not throw them away.
Remove dropFailedStarts(), dropFailedEnds().
Extend Pruning unittest.
2020-12-06 23:55:10 +01:00
Robert Haschke
a6a23d3775 Remove set[Start|End]StateUnsafe
These methods were introduced to temporarily set meaningful states for cost calculation
w/o connecting the solution to these temporary states (to solve a chicken-egg problem).
This commit provides TmpInterfaceStateProvider as an alternative approach to this problem.

This essentially reverts 53c0964618.
2020-12-06 04:11:35 +01:00
Robert Haschke
c8e75ab205 Simplify SolutionCollector 2020-12-06 04:11:35 +01:00
Robert Haschke
576a1aa48d Remove default constructor for Priority
It's better to explicitly state the initial value.
2020-12-06 04:11:35 +01:00
Robert Haschke
5d4cf640ef Fix issues #182 + #218 2020-12-06 04:10:47 +01:00
Robert Haschke
a9cd4e3281 Connect: Decouple subsolutions of SolutionSequence from external interface states 2020-12-06 04:09:59 +01:00
Robert Haschke
f05b08fa8a SerialContainer: Simplify solution traversal
Compute depth + accumulated cost of a partial solution sequence using InterfaceState::Priority.
2020-12-06 04:09:59 +01:00
Robert Haschke
11647fd3e5 Connect: mark failures in sub solutions of a sequence 2020-12-06 04:09:59 +01:00
Robert Haschke
c73c0c3555 Interface::updatePriority(): only allow decrease 2020-12-06 04:06:08 +01:00
Robert Haschke
08dc19f7b3 Fix cost calculation
The default CostTerm should rely on precomputed costs. Only, if a CostTerm is explicitly defined
for a particular stage, it should modify costs.
2020-12-06 04:06:08 +01:00
Robert Haschke
66fdff9711 Simplify state priority updates
Only need to update the end points of a partial solution.
2020-12-06 04:06:08 +01:00
Robert Haschke
bfa2a6070d MoveTo: Publish failed planning attempts 2020-10-30 00:44:51 +01:00
Robert Haschke
ae843a784e Merge PR #214 (fix various issues) and #215 (rework rviz introspection) 2020-10-24 04:45:53 +02:00
Robert Haschke
cf5031e89d Create task-specific ServiceClients to fetch solutions
This finally allows to have multiple tasks publishing in the same namespace.
2020-10-24 04:43:30 +02:00
Robert Haschke
b91d87c6eb IntroSpection: indicateReset() on disable 2020-10-24 04:43:30 +02:00
Robert Haschke
c471879b08 Rename process_id -> task_id 2020-10-24 04:43:30 +02:00
Robert Haschke
b071a059f9 Rename TaskPrivate::id -> TaskPrivate::ns
TaskPrivate's id_ actually served as a namespace parameter.
2020-10-24 04:43:30 +02:00
Robert Haschke
3a7a4eb953 Connect: Fix segfault when accessing solutions from multiple plan() calls
Connect::init() was resetting its dynamically created JMG merged_jmg_,
thus invalidating all previous solutions. Only reset the JMG in reset().
2020-10-24 03:23:19 +02:00