Commit Graph

440 Commits

Author SHA1 Message Date
llach
55470062c9 MoveTo: converting named joint poses to robot state msg in init; property names refactoring 2018-05-18 17:44:17 +02:00
llach
97c2312d67 MoveTo: can now take RobotState msg as goal 2018-05-18 17:44:17 +02:00
Robert Haschke
19fa7349d3 Task: only accept containers 2018-05-18 17:42:34 +02:00
Robert Haschke
e3ca832497 Property: silently return empty string when serialization is not supported 2018-05-18 17:42:34 +02:00
Robert Haschke
2106c51c9d Property: provide a fallback serialize() implementation
... in case operator<< is not defined for type T
2018-04-28 22:13:52 +02:00
Robert Haschke
cf84f261a0 travis: enable ccache 2018-04-27 19:58:15 +02:00
Robert Haschke
ae3b9126bd get rid off empty JointState errors 2018-04-27 12:07:27 +02:00
Robert Haschke
ecf8029f75 add timing to merged trajectories 2018-04-27 12:06:59 +02:00
Robert Haschke
320fe7e444 fix mem leaks 2018-04-27 12:06:14 +02:00
Robert Haschke
872e3cc004 unittest for Priority comparisons 2018-04-27 12:04:55 +02:00
Robert Haschke
8fb47e99e8 update ordering on any change of priority 2018-04-27 12:04:55 +02:00
Robert Haschke
67b6dcb49b move implementation into cpp file 2018-04-27 12:04:55 +02:00
v4hn
bbb64f2f8c inf cost states always go last
Also update sorted interface when state becomes inf or get's new cost.
2018-04-27 12:04:55 +02:00
Robert Haschke
728c1b40e2 Merge branches 'travis', 'fixes', 'visualization' and 'todos' 2018-04-15 12:01:19 +02:00
Robert Haschke
b8a4653f31 relax equality condition for joint values for inactive groups 2018-04-15 11:55:45 +02:00
Robert Haschke
5c525f8729 consider v4hn's comment 2018-04-15 11:55:45 +02:00
Robert Haschke
433db67cf9 only attempt to merge if there is something to merge 2018-04-15 11:55:45 +02:00
Robert Haschke
90b0b006eb more todo 2018-04-15 11:26:00 +02:00
Robert Haschke
6d6f185870 feedback 2018-04-15 11:26:00 +02:00
v4hn
ade42456b8 list of random todos 2018-04-15 11:26:00 +02:00
Robert Haschke
cd88b22469 update trail in both directions:
- show new steps if current_state_ advanced
- hide steps if current_state_ reverted
2018-04-15 11:25:01 +02:00
Robert Haschke
534985bdbb show start / end scene for empty trajectories 2018-04-15 11:25:01 +02:00
Robert Haschke
962fe2a42d reworked TaskSolution visualization
- code simplification
- allow slider interaction at any time
- keep last frame visible if animation finished
- animating_ is true iff animation is running
  (previously it was also used to indicate the end of an animation cycle)
2018-04-15 11:25:01 +02:00
Robert Haschke
24e8b95203 TaskSolutionVisualization: solution_to_display_ -> next_solution_to_display_ 2018-04-15 11:25:01 +02:00
Robert Haschke
6e08f32ef2 enable ccache 2018-04-15 11:24:44 +02:00
Robert Haschke
c3f42b66f7 travis fix 2018-04-15 11:24:44 +02:00
Robert Haschke
51e1dda6ec minor improvements: variable names, comments 2018-04-10 01:52:40 +02:00
Robert Haschke
564f3b0514 fix MoveRelative
Ignore success of planner_->plan() when min_distance is specified (and >= 0).
In this case, compute the achieved distance myself.
2018-04-10 01:52:40 +02:00
Robert Haschke
525ac10bbf std::string -> const std::string& 2018-04-10 01:52:40 +02:00
Robert Haschke
f2c0c7bf90 rename enableCollision -> allowCollision 2018-04-10 01:52:40 +02:00
Robert Haschke
fee7352961 renamed demo: plan_pick_trixi -> plan_pick_pr2 2018-04-10 01:52:40 +02:00
Robert Haschke
a044b719ac removed old stages: Move, Gripper, CartesianPositionMotion 2018-04-10 01:52:40 +02:00
Robert Haschke
b22217deab fix trajectory merging: initialize from well-defined RobotState 2018-04-10 01:52:40 +02:00
Robert Haschke
c553275276 SolutionSequence::fillMessage: ignore sub solutions with same creator as parent 2018-04-10 01:52:40 +02:00
Robert Haschke
556d9e1a5e Merge branches 'robot-model', 'task-move-constructor' and 'const-robot-trajectory' 2018-04-09 21:11:19 +02:00
Robert Haschke
2b79f15244 SubTrajectory: promise to not modify encapsulated RobotTrajectory 2018-04-09 21:10:18 +02:00
Robert Haschke
7463621f56 move assignment operator 2018-04-09 21:10:08 +02:00
Robert Haschke
7ebc4b2c7e Task: move constructor 2018-04-09 21:10:08 +02:00
Robert Haschke
35b35cc17e enable introspection only if ROS was initialized 2018-04-09 21:09:49 +02:00
Robert Haschke
bd60e6f65d Task::setRobotModel() / Task::loadRobotModel() 2018-04-09 21:09:49 +02:00
Robert Haschke
70065c98e7 Merge branches 'master' 'generate-pose' and 'connect' 2018-04-09 21:08:45 +02:00
Robert Haschke
21242ea976 publish failures 2018-04-09 21:08:17 +02:00
Robert Haschke
047a3f7db4 report duplicate joints, accept fixed joints as duplicates 2018-04-09 21:08:17 +02:00
Robert Haschke
55e3aae30a merge trajectories 2018-04-09 21:08:17 +02:00
Robert Haschke
03092e7e45 utility functions to merge multiple RobotTrajectories 2018-04-08 02:36:55 +02:00
Robert Haschke
2c08d9080d Pick, Place as specializations of PickPlaceBase 2018-04-08 02:36:55 +02:00
Robert Haschke
ce5d7c63f0 SimpleGrasp, SimpleUnGrasp as specializations of SimpleGraspBase 2018-04-08 02:36:55 +02:00
Robert Haschke
97d2eb5c6a Pick: remove Connect 2018-04-08 02:36:55 +02:00
Robert Haschke
85e88eabd1 Connecting::compatible() to check compatibility of states 2018-04-08 02:36:55 +02:00
Robert Haschke
eee53a0d80 MoveTo: use moving frame markers 2018-04-05 22:54:51 +02:00