Commit Graph

1046 Commits

Author SHA1 Message Date
Robert Haschke
d0351698a6 single map internal_to_external
There is no need to distinguish between starts and ends when mapping
states, because start/end states need to be disjoint sets.
2018-02-12 22:44:18 +01:00
Robert Haschke
e6af069139 SerialContainer: traverse solutions w/o stopping stage
Always traverse from current solution to the start/end of a complete
path and only call the callback once for the whole trace.
2018-02-12 22:44:18 +01:00
Robert Haschke
6a62f6be76 default argument for NotifyFunction in Interface constructor 2018-02-12 22:44:18 +01:00
Robert Haschke
3b26d2777a RemoteTaskModel: insert solution also when received on solution topic 2018-02-12 22:36:58 +01:00
Robert Haschke
244a7d147b sort serial solutions before insertion 2018-02-12 22:36:58 +01:00
Robert Haschke
ca899d6a43 cleanup findById: fixup for 'allow handling of failures'
fixup for 014f291defb124a62bb66b78570356ee9e74a7ee
use SFINAE magic to distinguish both types of findById
unfortunately crashes gcc 5, clang works
2018-02-12 22:36:58 +01:00
Robert Haschke
29577515a0 cost ordering for solutions 2018-02-12 22:36:56 +01:00
Robert Haschke
c84fa4cdd6 cost ordered API 2018-02-12 22:36:12 +01:00
Robert Haschke
1403fc9830 fixed some clang warnings 2018-02-12 22:36:12 +01:00
Robert Haschke
b60047318a code simplification
Usually, if we receive stage statistics there are some changes as well.
Hence, always emit notify signal in favour of complex change detection.
2018-02-12 22:36:12 +01:00
Robert Haschke
2184450bd6 count all failures for statistics 2018-02-12 22:36:12 +01:00
Robert Haschke
7a13d79bc4 example setting solution markers 2018-02-12 22:36:12 +01:00
Robert Haschke
97bb6ef2c6 allow handling of failures
- store "failure" solutions to facilitate debugging
- Introspection assigns solution IDs as soon as they are created in a stage
  Thus, solution IDs represent their creation order.
  In contrast, the order of publishing (in StageStatistics) should
  represent the cost order.
- Storing failures is disabled if Introspection is not available.
2018-02-12 22:35:58 +01:00
Robert Haschke
57cd11e3a9 Wrapper::compute: return true if new solutions are found 2018-02-12 22:33:39 +01:00
Robert Haschke
38f7696acf ComputeBase::addTrajectory -> ComputeBasePrivate::addTrajectory
Forbid indirect access to trajectories_.
Only official compute classes have access.
2018-02-12 22:33:39 +01:00
Robert Haschke
5d5a74ecd0 improved realtime display of solutions
stay in sync with realtime by keeping small time differences
solution visualization: common setVisibility()
2018-02-12 22:33:39 +01:00
Robert Haschke
5c1cad14df Merge branches 'fixes', 'wip-drag-n-drop', 'wip-ikstage' and 'wip-marker-vis'
resolved conflicts:
core/include/moveit/task_constructor/container.h
core/src/container.cpp
core/src/stages/generate_grasp_pose.cpp
visualization/motion_planning_tasks/src/task_display.cpp
visualization/motion_planning_tasks/src/task_panel_p.h
2018-02-04 21:36:01 +01:00
Robert Haschke
32660670a7 correctly pass on StageFactory 2018-02-04 21:30:25 +01:00
Robert Haschke
17683b12c9 more exported stage plugins: CurrentState 2018-02-04 21:30:25 +01:00
Robert Haschke
d9be19bbe8 re-enable drag-n-drop to edit task pipeline 2018-02-04 21:30:25 +01:00
Robert Haschke
faa7b38ff9 fix flaky "deletion" unittest 2018-02-04 20:59:16 +01:00
Robert Haschke
015dc2314a postpone panel instantiation
... to ensure that only a single instance is created
(something not really supported/intended by rviz)
2018-02-04 20:37:47 +01:00
Robert Haschke
5adac3f21f auto-load TaskPanel with TaskDisplay 2018-02-04 20:26:07 +01:00
Robert Haschke
736136dd9f collision test for ee group 2018-02-04 09:01:45 +01:00
Robert Haschke
3fd096c8e6 fix IK stage: insert different solutions as different scenes 2018-02-04 09:01:45 +01:00
Robert Haschke
57d907908d better names for frame and transform variables 2018-02-04 09:01:45 +01:00
Robert Haschke
fe05894709 renamed GenerateGraspPose::setGraspFrame() to setToolToGraspTF() 2018-02-04 09:01:45 +01:00
Robert Haschke
0918ad6897 implement IK as separate stage
... wrapping another stage
2018-02-04 09:01:45 +01:00
Robert Haschke
b6959170db derive WrapperBase from ContainerBase
While ParallelContainers can directly promote their child solutions as
their own, a Wrapper needs to modify those solutions. Hence, Wrappers
should be derived directly from Container.
2018-02-04 09:01:45 +01:00
Robert Haschke
e4ad7a0753 removed Stage::validate()
... only was checking for implies(a, a) which is always true
2018-02-04 09:01:45 +01:00
Robert Haschke
104e52eb48 promise to not modify solutions 2018-02-04 09:01:45 +01:00
Robert Haschke
6f95642a5a fix segfault 2018-02-04 09:01:40 +01:00
Robert Haschke
70fadbef11 fixed memory leak 2018-02-04 09:01:40 +01:00
Robert Haschke
32314d3532 consistently use double for costs 2018-02-04 09:01:40 +01:00
Robert Haschke
f8952bb712 introducing process_id
The task id was not unique enough to distinguish different tasks.
When a task publisher is killed and restarted, it usually comes up with
the same task id. However, visualization doesn't notice this change and
get confused / crashes when receiving task statistics and solutions.
2018-02-04 09:01:40 +01:00
Robert Haschke
5089de890f bug fixes
- only attempt to retrieve solution if remote was not yet destroyed
- setting get_solution_client is neccessary only once (pointer never changes)
- more reliable topic handling + status feedback
2018-02-04 09:00:54 +01:00
Robert Haschke
3e788084b2 improve solution visualization / navigation
- locking: suppress interrupting current solution display when navigating solutions
- display end scene at the end of a solution display
- allow to display multiple solutions (its markers)
2018-02-04 09:00:54 +01:00
Robert Haschke
01d43e3f3b marker_tools 2018-02-04 09:00:54 +01:00
Robert Haschke
365fee9b60 rviz marker tools 2018-02-04 09:00:54 +01:00
Robert Haschke
0e8dd85ae6 allow stages to access the created SubTrajectory
to add markers, set name, etc.
2018-02-04 09:00:54 +01:00
Robert Haschke
30f6ade636 marker visualization 2018-02-04 09:00:54 +01:00
Robert Haschke
f7ae7756cc fix cmake file 2018-02-04 09:00:54 +01:00
Robert Haschke
e9363919e8 Merge branch 'wip-properties' 2018-02-04 08:59:35 +01:00
Robert Haschke
41ec46964a more unit tests 2018-02-04 08:56:11 +01:00
Robert Haschke
3ab899a9a8 cleanup error handling
throw std::logic_error on type errors
throw std::runtime_error on undeclared property
don't expose generic PropertyMap::declare()
2018-02-04 08:56:11 +01:00
Robert Haschke
c9e3be08d0 fix initialization order of properties
First from INTERFACE, second from PARENT.

INTERFACE initialization only makes sense for Propagating stages.
Connecting stages should ensure that interfaces define identical
properties which is not possible with boost::any.
2018-02-04 08:56:11 +01:00
Robert Haschke
4db7e8eb88 definition of PropertyInitializerSource moved to Stage 2018-02-04 08:56:11 +01:00
Robert Haschke
f6253c46a4 generalize initialization source from enum to int 2018-02-04 08:56:11 +01:00
Robert Haschke
59fe1e7860 separate setValue() and setCurrentValue()
setValue() also updates the default value.
reset() reset to the default value.
setCurrentValue() only updates the current value, keeping current default.
Thus setCurrentValue() can be reverted (to default) using reset().
2018-02-04 08:55:58 +01:00
Robert Haschke
d62b85572a remove property name from InitializerFunction's signature 2018-02-03 21:45:40 +01:00