Robert Haschke
6d10f7e835
moved plan publishing into debug.cpp
2017-09-28 20:35:44 -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
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`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
f1039b8c14
ggp: add max_ik_solutions parameter
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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
d2d93967ce
consistency: Begin -> Beginning
2017-09-12 09:21:31 +02:00
v4hn
d801c4441c
simplify interface
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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
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Using shared_ptr, this is cleaner
2017-09-04 00:52:00 +02:00
v4hn
25fcc39a33
task: flag previously returned trajectories to return them only once
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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
4955a64181
add methods to traverse through all solutions
2017-03-07 14:58:57 +01:00
v4hn
751c85cd3c
add two auxiliary attributes to grasp generator
2017-03-07 13:11:47 +01:00
v4hn
850fb575d0
don't add NULL to InterfaceState
2017-03-06 23:44:59 +01:00
v4hn
f8b1b3c204
rename connect* to hasBeginning/Ending & add missing calls
2017-03-06 23:24:55 +01:00
v4hn
5d9a9c22e4
invert 1:n relationship between InterfaceState and SubTrajectory
...
Starting with the Move Subtask, a single InterfaceState might have
multiple trajectories associated.
On the other hand, a graph structure of nodes is arbitrary difficult to handle,
debug and even specify. Because all examples considered up to now are
linear, I decided to stay with a linear ordering for now.
This should also allow much cleaner visualizations.
2017-03-06 20:47:56 +01:00
v4hn
ca6151cacb
first implementation of the Move subtask
2017-03-06 19:49:06 +01:00
v4hn
a9c9a61710
add stub for pair iteration
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This is not too hard, but takes a bit of time to get right,
so I'll add a stub for the moment.
2017-03-06 19:34:11 +01:00
v4hn
57f974bfff
implement missing connectToEnding method
2017-03-06 19:06:22 +01:00
v4hn
5d41af19d1
change gripper subtask to use EndEffector
2017-03-06 15:08:32 +01:00
v4hn
fb532045fe
generate_grasp_pose: utilize MoveIt's EndEffector model
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This assumes the end-effector is properly setup in the srdf,
but simplifies setup of the subtask.
2017-03-06 14:53:14 +01:00
v4hn
4637e1fffd
add step size parameter to CartesianPositionMotion
2017-03-06 14:37:30 +01:00
v4hn
be828860f4
cartesian_position_motion: add beginning->end inference & mode_along
2017-03-05 21:43:31 +01:00
v4hn
07b1a72030
add planning pipeline to task and subtasks
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This allows to plan in the subtasks without ROS communication
2017-03-05 13:06:16 +01:00
v4hn
86c908861d
cartesian_position_motion: refactored
2017-03-04 16:59:24 +01:00
v4hn
70145aae29
draft implementation of cartesian_position_motion - one way only for the moment
2017-03-04 00:08:52 +01:00
v4hn
31c88bb9d6
generate grasps: add GripperGraspPose
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Otherwise this always uses the current gripper state.
2017-03-03 12:17:57 +01:00
v4hn
30961436f1
subtask: add has* functions to facilitate canCompute
2017-03-02 19:35:31 +01:00
v4hn
9c5c87fc58
generate_grasp_pose: add grasp offset
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This (as probably known from many other implementations...) allows
to grasp the object with the end effector link being further away from it.
2017-03-02 19:23:56 +01:00
v4hn
798f9c0839
add angle delta for generate grasp poses
2017-03-02 17:21:36 +01:00
v4hn
19c351b27d
generate grasp poses: retrieve multiple IK solutions & check collisions
2017-03-02 17:20:48 +01:00
v4hn
34bd5f8614
generate grasp poses: add time management
2017-03-02 14:54:13 +01:00
v4hn
6e5308740b
first incomplete version of GenerateGraspPose
2017-03-02 00:40:51 +01:00
v4hn
cd6f2d74da
add explicit destructor for Task
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Without this rml_ would be deleted before all IK plugins are unloaded
and class_loader still can't handle this...
2017-03-01 16:27:20 +01:00
v4hn
a1ef95300c
add a simple printState function to task
2017-03-01 16:17:09 +01:00
v4hn
63e1d4fd78
reorder subtask get functions
2017-03-01 16:09:54 +01:00
v4hn
c77d9106a6
introduce more interfaces / Gripper forward planning now works
2017-03-01 15:19:30 +01:00
v4hn
039f1e6896
Task now holds a PlanningScene
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instead of just a RobotModel.
All generating subtasks need the scene,
so avoid every single one of them asking for it.
2017-02-28 16:47:09 +01:00
v4hn
8af3645af9
first implementation of subtask::CurrentState
2017-02-28 15:37:25 +01:00
v4hn
0e5d39a94d
introduce a number of interfaces as loose ends
2017-02-28 15:27:05 +01:00
v4hn
bd67649fd2
first sketch of the graph design
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+ skeleton of a first node "current_state"
+ vision of a test application
2017-02-28 11:29:38 +01:00