Commit Graph

92 Commits

Author SHA1 Message Date
Robert Haschke
5fd98ce307 SerialContainer tests 2020-12-06 04:06:08 +01:00
Robert Haschke
cb0f20cad7 Improve task unittests 2020-10-24 03:22:46 +02:00
Robert Haschke
198f8f5389 clearer naming of cost variables 2020-09-21 22:52:19 +02:00
v4hn
62586c2688 rework CostTerm's from support flags to vtable
requested in review.

Without support for custom aggregators, which we dropped again
after finding more flaws with it, I agree that this is the nicer solution.

On the downside, it converts the interfaces from copyable objects
to another round of shared_ptrs.

I added shortcuts for lambda costs to keep support for
`stage->setCostTerm([](auto&& s){ return 42; })`
without the additional
`stage->setCostTerm(LambdaCostTerm{ [](auto&& s){ return 42; } } )`
2020-09-21 22:52:19 +02:00
v4hn
45e6cdb47d Revert "add CostAggregator for SerialContainer"
This reverts commit dc7ce9bdfac97eb468f5a850adcb27cc118b5fd7.

It turns out multiple places in SerialContainer's cost inference
expect 0.0 as the neutral element (which is why std::min and multiply did not work).
While these additional issues can be fixed, it would make the interface much less elegant.

We should consider adding it back if an actual use-case is there to discuss.
2020-09-21 22:52:19 +02:00
v4hn
cdc7cb04fc refactor Forward -> PassThrough
based on review feedback
2020-09-21 22:52:19 +02:00
v4hn
05932ad5f1 enable implicit construction of CostTerm from lambdas
without the need for explicit casts to the correct signature.
2020-09-21 22:52:19 +02:00
v4hn
034a155315 provide CostTerm class for all CostTerms
This pattern allows cost::Constant to override the hierarchical cost computation
for the SerialContainer and avoid traversing the graph.

I implemented the CostTerm::supports() pattern over a full double visitor pattern
with overloads for each SolutionBase specialization, because the SerialContainer
needs to know whether cost aggregation of the subsolutions should take place or whether
the SolutionSequence should be forwarded to the CostTerm.
This would not be possible with a `virtual double operator()(const SolutionSequence&)`
callback in CostTerm.

Alternatively, implementing the hierarchical aggregation in the default implementation
of this operator would be possible as well, but breaks intuition:
- the corresponding methods to handle `SubTrajectory` and `WrappedSolution` *have to*
  default to not touching the solution's cost at all so it is inappropriate to have
  the default implementation for the Sequence do something else
- The SerialContainer also aggregates costs outside the `computeCost()` interface
  (in multiple places in `onNewSolution()` to aggregate costs along partial paths)
  and thus moving the hierarchical aggregation to the CostTerm methods requires
  the aggregator to be shared between the Container and the CostTerm,

The only shortcoming of the implemented approach, by contrast, is that user implementations
that want to handle WrappedSolution or SolutionSequence differently have to ensure
the supports_ flags are set correctly. Notice that most custom CostTerms will only
ever access SubTrajectories and this case is simplified with the provided CostTerm constructors.
2020-09-21 22:50:51 +02:00
v4hn
8ae1060b4d add CostAggregator for SerialContainer
It can be useful to change the default addition to other operators.

The simplest example is applying a Constant cost term to a container.
As the tests show, the visitor-based cost computation ends up adding
cost::Constant *for each subtrajectory*.
2020-09-21 22:50:51 +02:00
v4hn
28b98e989c improve cost term tests
- add tests for nested containers
- add descriptions to checks
- refactor helper to support different containers
2020-09-21 22:50:45 +02:00
v4hn
dcee7c408f add basic tests for using cost terms 2020-09-21 22:31:52 +02:00
v4hn
1a2eafa256 fix stage test mock
base class init needs to be called although this didn't pose problems
until now.
2020-09-17 23:00:12 +02:00
Michael Görner
ee6c50ad31
Apply clang-format-10 (#199) 2020-08-20 11:56:53 +02:00
Michael Görner
47f052b93d
adapt tests to new moveit_resources layout (#200) 2020-08-20 11:04:18 +02:00
v4hn
0aff5d56dd replace remaining typedefs by using declaration
I have no idea why these were not picked up by clang-tidy.
2020-07-22 12:57:34 +02:00
v4hn
8faba159f9 clang-tidy: llvm-namespace-comment 2020-06-11 11:03:50 +02:00
v4hn
2153237643 clang-format: readability-identifier-naming
Probably the most invasive format patch, also changing some internal API.

I deliberately disabled ClassCase and MethodCase checks for the moment
to avoid public API changes in this patch set.
2020-06-11 11:03:50 +02:00
v4hn
b762079478 clang-tidy: readability-named-parameters 2020-06-11 11:03:50 +02:00
v4hn
3fe4436ad7 clang-tidy: modernize-use-override 2020-06-11 11:03:50 +02:00
v4hn
36166348bc clang-tidy: use using over typedef
$ run-clang-tidy.py -header-filter='.*' -checks='modernize-use-using' -fix

add .clang-tidy file
2020-06-11 11:03:50 +02:00
Robert Haschke
499fcfb04b cleanup / renaming
* Rename pruneInterface() -> resolveInterface()
* Rename accepted (interface) -> expected
* Improve exception strings
2020-04-10 20:11:51 +02:00
Robert Haschke
4d8d32dda5 New test: keep previously configured propagate interface 2020-04-10 19:39:32 +02:00
Robert Haschke
7f33633e82 Simplify test_container.cpp
* Reset mock_id for each test to facilitate assignment
* Simplify creation of nested containers
* Moved some test cases around
* Output all exception messages (even expected ones)
2020-04-10 19:34:51 +02:00
v4hn
b6a5f89307 remove logical flow BOTH / simplify pruning
The PROPAGATE concept BOTH declared the stages *will* propagate solutions in
either direction. ANY, on the other hand, only means the propagation
direction is *not resolved yet* (but will be at planning time).

BOTH was originally described to support a more general control flow
than was eventually decided to support. The four exclusive Stage interfaces
CONNECT, PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS, and GENERATOR
do not allow for BOTH as a valid setup anymore, unless you setup a very
convolved task like `Alternatives(GEN, PROP) - Alternatives(PROP, GEN)`
which would be very complex to inspect. The same functionality can still
be achieved more readable as `Alternatives(Seq(GEN, PROP), Seq(PROP, GEN))`.

The confusion between BOTH (propagator *will* send in both directions) and
ANY (propagator will send in *either* direction, decided during init) led
to a lot of confusion with users and was not fully accounted
throughout the pipeline.

Adjust tests.

Notice the difference between ANY (unresolved propagator) and UNKNOWN
(a container before introspecting its children). propagators still
report UNKNOWN as requiredInterface though to simplify control flow.

The simplification enables a much simpler linear inference of the connective
structure of a task, as the first interface direction is always given.

Additionally, unify the resource setup for static interfaces to run
in the constructor, and for dynamic initialization in `pruneInterface`,
getting rid of partial initializations in `init`.
2020-04-08 13:27:36 +02:00
v4hn
a193fc2ec5 enumerate test stages
remove ambiguity when multiple stages of the same type are used
2020-04-08 13:27:28 +02:00
Michael Görner
0eae0e652e
build tests using gmock via catkin_add_gmock (#148)
Otherwise these suddenly started to fail for me on Lunar Linux...
2020-03-20 20:33:33 +01:00
Michael Görner
f7b259259e Introduce clang-format (#102)
* fix catkin_lint issues
* introduce clang-format config and apply it
2019-07-18 11:04:35 +02:00
v4hn
0b47224ef1 micro-fix whitespace
Let's use clang-format...
2019-07-12 13:51:21 +02:00
Robert Haschke
95455c2a26 fix Task::operator=(Task&&)
To move a task instance to another one, it's not sufficient to swap all task members,
but we also need to adapt all back pointers, i.e. me_ and parent_ pointers of children,
to point to the (swapped) task instances.
2019-06-04 14:20:47 +02:00
Robert Haschke
fee73bcd78 Merge branch 'fix-interface-deduction' into master 2019-05-03 01:53:57 +02:00
Robert Haschke
11fb15fd0c fix clang-tidy warnings
- virtual functions used in constructor / destructor
- captured variable in lambda expression not used
- unhandled enums in switch
2019-05-03 01:53:17 +02:00
Robert Haschke
fd1aa38a39 fix unit test definitions 2019-05-03 01:06:56 +02:00
Robert Haschke
6de1c8dbe5 ContainerBase::findChild() 2019-05-02 14:55:34 +02:00
Robert Haschke
39427f89bf Merge branches 'fix-interface-deduction' (#84), 'compute-ik-default-timeout' (#80),
'fix-visualization' (#76), and master-improvements (#81)
2019-03-11 14:09:03 +01:00
Robert Haschke
905b6a3b0c move validateConnectivity() from ContainerBase to StagePrivate
... to allow specific stage types (PropagatingEitherWay) implementing their own validation
No need for a public interface.
2019-03-11 13:54:54 +01:00
Robert Haschke
7d25c55978 Container: more unit tests for interface detection / validation 2019-03-11 13:54:54 +01:00
Robert Haschke
579c336558 Connecting: also check that attached objects match 2019-02-21 00:51:57 +01:00
Robert Haschke
2da9e0d722 rework solution msgs
- to allow solution wrappers (WrappedSolution, SolutionSequence)
  to transmit their comment and markers as well
- introduced new SolutionInfo.msg,
  which is the info common to solution wrappers and actual SubTrajectories
2019-02-12 13:57:12 +01:00
Robert Haschke
527ec8edaa correctly sort upstream_solutions_ in ComputeIK and GeneratePose
Reworked cost_queue to correctly sort pointer-like types.
Added unittests for new ValueOrPointeeLess<T> less operator, ordered<T>, and rviz cost ordering.
2019-02-12 03:05:36 +01:00
Robert Haschke
062cfe0b60 PropertyTypeRegistry to store serialization/deserialization functions 2019-01-17 23:54:35 +01:00
Robert Haschke
ae75c3aa7f Eigen::Affine3 -> Eigen::Isometry3 2018-11-28 08:14:44 +01:00
Robert Haschke
b9a86eb5be use task id as default name of top-level stage 2018-11-08 12:55:45 +01:00
Robert Haschke
915151fdd2 modify ps: add convenience functions 2018-11-02 11:21:48 +01:00
v4hn
9740179f7f Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master 2018-10-22 17:31:01 +02:00
v4hn
13ad4d58f1 fixup! rename "goal" to "direction"
"Goal" implies a motion to a target configuration.
MoveRelative explicitly does not do that.

"Direction" is usually not used for rotations,
but perfectly valid to describe them.

I merged 544f574166
together with the first version of this rename
that got force-pushed because it was incomplete.
2018-10-22 17:07:00 +02:00
Robert Haschke
18bf5246ed cleanup PlannerInterface
- remove group + timeout properties: they are passed as arguments to plan()
- move max_velocity_scaling_factor, max_acceleration_scaling_factor to PlannerInterface base class
2018-10-21 00:02:10 +02:00
Robert Haschke
af6f7b12bf pick_pa10: fix initialization of RobotState
only a subset of joints was initialized
2018-10-20 02:38:11 +02:00
Robert Haschke
1787a66d37 fix compiler warnings 2018-10-16 23:14:58 +02:00
Robert Haschke
f1764d0de4 fix tests 2018-10-16 23:14:58 +02:00
Robert Haschke
e5e291d86f FixCollisions stage 2018-09-25 22:16:45 +02:00