v4hn
cd9115483b
let marker_ns default to stage name
...
The stages can still decide on their namespaces on their own,
but markerNS() at least provides a stage-specific name they can use.
2018-11-09 10:50:48 +01:00
v4hn
3176aff30f
add accessors for marker_ns property
2018-11-09 10:50:40 +01:00
v4hn
ac3b56a160
document timeout() helpers
2018-11-09 10:50:33 +01:00
v4hn
6b4b4ca624
ComputeIK: threshold for new solutions as property
2018-11-09 10:50:14 +01:00
v4hn
b379ba2268
fix broken rvalue-forward & SerialContainer assert
...
Release mode builds previously produced broken solutions with too many entries,
debug build triggered the assert
container.cpp:334: assert(solution.empty())
The standard guarantees std::vector(&&a) leaves a.empty() == true,
so the logic there is fine as long as subsolutions is actually
used for move-construction.
2018-11-09 10:47:51 +01:00
Robert Haschke
b9a86eb5be
use task id as default name of top-level stage
2018-11-08 12:55:45 +01:00
v4hn
a86eca9ada
predicate filter: fix documentation
2018-11-02 15:51:24 +01:00
v4hn
cc90d5f3f2
add PredicateFilter
2018-11-02 11:53:09 +01:00
Robert Haschke
5af54b5a21
GenerateGraspPose: spawn failure if object unknown
2018-11-02 11:36:00 +01:00
Robert Haschke
0f31cdee2e
move storeFailures() into public Stage API
2018-11-02 11:36:00 +01:00
Robert Haschke
915151fdd2
modify ps: add convenience functions
2018-11-02 11:21:48 +01:00
janEbert
c59e41042f
Add test for all stages' PropertyMaps
...
Iterate over all stages and their properties to see check for missing conversion functions.
2018-10-29 18:00:49 +01:00
Robert Haschke
bb5b29d5fd
disable python default constructors for some classes
...
these classes do not yet handle nullptr as their argument
2018-10-29 18:00:49 +01:00
janEbert
00d5b00ec4
Provide default constructors for all stages
2018-10-29 18:00:49 +01:00
Robert Haschke
df820738c8
cleanup converter for ros::Duration
2018-10-29 18:00:49 +01:00
janEbert
e79f0f3054
add converter for std::set<std::string>
2018-10-29 18:00:49 +01:00
janEbert
fab40f64ed
register enum Connect::MergeMode
2018-10-29 18:00:49 +01:00
Robert Haschke
2f8ded2a4e
fixup! generalize Property conversion between C++ and Python
2018-10-29 18:00:49 +01:00
Robert Haschke
ed44c2cb33
adapt API: MoveRelative::setGoal -> setDirection
2018-10-25 03:27:10 +02:00
Robert Haschke
ff6661e8ba
python wrappers for new functionality since last merge
2018-10-25 03:26:43 +02:00
Robert Haschke
377dd11950
Merge branch 'master' into boost-python
2018-10-25 03:24:24 +02:00
v4hn
e5fc8b62b4
MoveRelative: possibly update last waypoint before transform lookup
...
Apparently this RobotState is not necessarily updated,
this broke some pipeline testing over here.
2018-10-25 00:12:46 +02:00
v4hn
38cc4c6936
add comment to subtrajectory
2018-10-25 00:12:46 +02:00
v4hn
80adcb9e24
add comments to wrapped solutions
2018-10-24 11:53:14 +02:00
v4hn
73b35ef2bf
do not send failures to parent
...
It is enough for us to investigate these locally
2018-10-24 11:47:42 +02:00
v4hn
932497ce6d
do not pass failures on to monitors
...
They should not work with them and this
removes the need for the usual `if(s.isFailure) return`.
2018-10-24 11:44:26 +02:00
Robert Haschke
d6714e89ab
fixup! rename "goal" to "direction"
2018-10-23 21:09:07 +02:00
Robert Haschke
b511110ae6
remove dummy file
2018-10-23 01:30:33 +02:00
v4hn
9740179f7f
Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master
2018-10-22 17:31:01 +02:00
v4hn
7fcef54a0e
fixup! add name to Connecting DEBUG output
...
This is important to differentiate between different Connect stages.
2018-10-22 17:28:52 +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
v4hn
a05a76fd8c
fixup! add properties for conditional debug output
...
in MoveIt planner.
These can be quite helpful.
I agree, we really don't need them enabled by default.
2018-10-22 16:59:24 +02:00
Robert Haschke
70e32cb0b3
Connect: skip initial PlanningScene::diff()
2018-10-21 00:27:50 +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
b5b58ea0ca
Introspection::solutionFromId()
2018-10-20 23:33:54 +02:00
Robert Haschke
02ed4d3579
Connect: verbose debugging output in case of state incompatibilities
2018-10-20 23:32:43 +02:00
Robert Haschke
c6f985be3a
Connect: allow different merge modes
...
for now:
SEQUENTIAL (no merging)
WAYPOINTS (naive)
2018-10-20 23:32:43 +02:00
Robert Haschke
ba88c59201
Merge pull request #54 from ros-planning/pr-capability
...
ExecuteTaskSolution capability
2018-10-20 23:25:48 +02:00
Robert Haschke
1e39da2388
fix stage "FixCollisionObjects"
...
... correction wasn't initialized to zero, resulting in random NaNs
2018-10-20 22:59:27 +02:00
Robert Haschke
a0a9738a00
update PlanningScene's RobotState before storing it
2018-10-20 22:02:05 +02:00
Robert Haschke
e894d8bce2
fix caching of PlanningPipeline ptrs
...
Need to reset cache if corresponding RobotModel was destroyed.
To this end, we cannot simply use the RobotModel's name.
2018-10-20 21:50:05 +02:00
Robert Haschke
f548b7edcc
PipelinePlanner: disable publishing of plan request + computed path
2018-10-20 12:21:18 +02:00
Robert Haschke
36fe4c98be
reduce copying of shared ptrs
2018-10-20 12:21:18 +02:00
Robert Haschke
d648a4091e
guard use of introspection_ pointer
2018-10-20 02:38:11 +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
e9b16ba7c0
fix destruction order
2018-10-20 02:38:11 +02:00
Robert Haschke
3ad03cf719
generalize Property conversion between C++ and Python
...
register appropriate converters for boost::any
2018-10-18 10:00:45 +02:00
Robert Haschke
14d10a2d93
replace MessageSignature with simple ros-msg-name string
2018-10-18 10:00:45 +02:00
Robert Haschke
c145b4c5f8
better robustness against already registered boost::python type converters
2018-10-18 10:00:45 +02:00
Robert Haschke
074a3b7f03
RosMsgConverter: do not allow custom message name
2018-10-18 10:00:45 +02:00
Robert Haschke
fdec258b2c
ROSMsgConverter -> RosMsgConverter
2018-10-18 10:00:45 +02:00
Robert Haschke
1b267768fa
cleanup type conversion
2018-10-18 10:00:45 +02:00
Robert Haschke
3786ce5a15
protect fromPython / toPython
2018-10-17 02:00:14 +02:00
Robert Haschke
5d78b10366
fix compiler warnings
2018-10-17 02:00:14 +02:00
v4hn
1a4f6c0e57
keep RobotModelLoader around
...
Otherwise the robot_model_ does not remain valid
2018-10-17 01:55:28 +02:00
Robert Haschke
a745f55ab7
fix compiler warnings in release mode
2018-10-17 01:55:28 +02:00
Robert Haschke
5bae196b21
fixes for Bionic
...
boost::python 1.65 is more picky about exactly returning the placeholder type in __init__ functions.
2018-10-17 01:18:39 +02:00
Robert Haschke
c9e735ded3
fix API to match MoveTo / MoveRelative stages
2018-10-17 01:18:39 +02:00
Robert Haschke
fbbb39592b
allow PoseStamped as property
2018-10-17 01:18:39 +02:00
Martin Meier
47232dd92b
pass verbose InitStageException from C++ to python
...
reverts df43ba1d68bb5c628a8e8f13729e7cdda872f1f9
2018-10-17 01:18:39 +02:00
Robert Haschke
effa437a53
Solution.toMsg()
2018-10-17 01:18:39 +02:00
Robert Haschke
14bd867df8
expose MonitoringGenerator's setMonitoringStage()
2018-10-17 01:18:39 +02:00
Robert Haschke
ef1bbaa439
Task::init(): verbose exception output
2018-10-17 01:18:39 +02:00
Robert Haschke
ea4b1e0c21
Properties: exposeTo(), configureInitFrom()
2018-10-17 01:18:39 +02:00
Robert Haschke
c80755348c
moved python includes to global include folder too
...
catkin package expects all includes to be in one global location
2018-10-17 01:18:39 +02:00
Robert Haschke
b36d91cc02
import .core by default
2018-10-17 01:18:39 +02:00
janEbert
3c77fd1325
add reference test for properties
2018-10-17 01:18:36 +02:00
Robert Haschke
4ac0b6e2c4
merge fixes
2018-10-16 23:22:10 +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
940543a063
fixup! allow preemption of Task::plan()
2018-10-16 23:14:58 +02:00
Robert Haschke
b5bc97b3eb
Task::execute()
2018-09-25 22:17:42 +02:00
Robert Haschke
7bd9bcf972
allow preemption of Task::plan()
2018-09-25 22:16:45 +02:00
Robert Haschke
e5e291d86f
FixCollisions stage
2018-09-25 22:16:45 +02:00
Robert Haschke
a7b74673ce
PlannerInterface for joint-space interpolation
2018-09-25 22:16:45 +02:00
Robert Haschke
4860462076
ComputeIK: forward child solution's comment
2018-09-25 16:25:22 +02:00
Robert Haschke
c70db65578
fixup! MoveTo: store goal as any type
2018-09-25 16:25:13 +02:00
Robert Haschke
ca9d50e7d8
fix compiler warnings
2018-09-25 13:30:53 +02:00
Robert Haschke
f2573e9bfd
fix include order
...
Local headers should be preferred over those from underlay.
Consequently use target_include_directories() to properly define include order.
2018-09-25 13:30:53 +02:00
Robert Haschke
4cebd95468
Merge branch master into boost-python
2018-06-03 13:20:02 +02:00
Robert Haschke
d3fdee9095
expose solutions, publish + execute
2018-06-03 13:03:41 +02:00
Robert Haschke
c0a16971f4
remove redundant exposure of smart pointers
2018-06-03 13:03:41 +02:00
Robert Haschke
5e2bff59fc
cleanup Property access
2018-06-03 13:03:41 +02:00
Robert Haschke
d5c7bfb07e
cleanup
2018-06-03 13:03:41 +02:00
janEbert
e264bddc3e
PropertyMap iterator, PropertyMap.update(dict)
2018-06-03 13:03:41 +02:00
janEbert
2345b6c9a6
unit tests for all stages
2018-06-03 13:03:41 +02:00
janEbert
f15cbd7141
overload constructors
2018-06-03 13:03:41 +02:00
janEbert
93c62e833d
container wrappers
2018-06-03 13:03:41 +02:00
Robert Haschke
09b9698e7b
add ROS unittest
2018-06-03 13:03:41 +02:00
Robert Haschke
56546f190f
roscpp_init: provide init_options AnonymousName, NoRosout
2018-06-03 13:03:41 +02:00
janEbert
1f85b00e14
more wrappers, unittest, fixes
2018-06-03 13:03:41 +02:00
Robert Haschke
de9fa8405d
register ROS msg types with boost::python's type converters
2018-06-03 13:03:41 +02:00
Robert Haschke
f4ffccdc1f
handle std::unique_ptr<Stage>
...
Class holder needs to be a smart pointer, e.g. std::auto_ptr.
This can be released(), such that ownership can be passed.
Further, derived types need to be declared as implicitly_convertible to base type.
2018-06-03 13:03:41 +02:00
Robert Haschke
47a2a28698
cleanup, unittest for properties
2018-06-03 13:03:41 +02:00
Robert Haschke
ee13295c92
separate .core and .stages modules
2018-06-03 13:03:41 +02:00
Robert Haschke
e615b7c9da
local names for python wrapper libs
2018-06-03 13:03:41 +02:00
Robert Haschke
f7ddd43d53
cleanup folder structure
2018-06-03 13:03:41 +02:00
Robert Haschke
135c9c2148
solvers + stages
2018-06-03 13:03:41 +02:00
Robert Haschke
3ef0bd426b
Properties
2018-06-03 13:03:41 +02:00
janEbert
226b0b03b4
basic boost::python wrappers
2018-06-03 13:03:41 +02:00
Robert Haschke
ff2474f262
pa10 doesn't need move_group
2018-06-03 12:36:12 +02:00
Robert Haschke
932ab5eba3
cast demos as integration unit tests
...
- moved demos from demo to test folder
- run them as unittest, checking range of solutions
2018-06-03 12:36:01 +02:00
Robert Haschke
3215880b98
Merge branches 'move-to', 'simple-grasp' and 'properties' into master
...
These branches only work together:
- MoveTo / MoveRelative: common handling of "goal" property
- properties: required changes to allow for multiple inheritance
- generalize SimpleGrasp / GenerateGraspPose
2018-06-03 11:38:50 +02:00
Robert Haschke
2e46082521
remove Container::exposePropertiesOfChild()
2018-06-03 11:36:50 +02:00
Robert Haschke
157caac385
generalize SimpleGrasp / GenerateGraspPose
...
- move "pregrasp", "grasp" property from SimpleGrasp to GenerateGraspPose
- Container::exposePropertiesOfChild: decouple exposure from inheritance
2018-06-03 11:36:50 +02:00
Robert Haschke
544f574166
MoveRelative: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
00260d62b5
MoveTo: store goal as any type
2018-06-03 09:22:06 +02:00
Robert Haschke
941dee7fc1
exposeTo: const method
2018-06-03 09:22:06 +02:00
Robert Haschke
abc4c5de50
PropertyMap: allow any type
2018-06-03 09:18:37 +02:00
Robert Haschke
a8431ce661
Container::exposePropertiesOfChild: allow skipping of undefined props
2018-06-03 06:46:12 +02:00
Robert Haschke
0dab499533
Stage: generally allow forwarding of interface properties
2018-06-03 06:46:12 +02:00
Robert Haschke
92296e020f
SimpleGrasp(GraspGenerator)
...
allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
2018-06-03 06:46:12 +02:00
Robert Haschke
beffe27987
improve property debugging
2018-06-03 06:42:11 +02:00
Robert Haschke
cbb2cd69f7
property inheritance: both from PARENT and INTERFACE
...
- source_id -> source_flags: bits indicating configured paths
- initializers, e.g. fromName(), should throw
- ignore undeclared errors during inheritance
- on undefined error, reset the value to None
- override value only if previously set by lower-priority source
MANUAL > CURRENT > PARENT > INTERFACE
2018-06-03 06:36:15 +02:00
Robert Haschke
abea2ee82b
reuse boost::any's type_index type
2018-06-02 17:46:37 +02:00
Robert Haschke
2e9932cfbc
fix: don't report config issues as successful (but empty) solutions
2018-06-02 17:46:28 +02:00
v4hn
381210f43d
compatibility with boost 1.54
...
This is required for ROS indigo on ubuntu 14.04
2018-06-01 15:02:11 +02:00
Michael Görner
5739bf39d9
use correct frame in pick ( #52 )
2018-06-01 14:55:23 +02:00
v4hn
0091c76208
compute ik: ignore collisions skips early eef check
2018-06-01 11:34:07 +02:00
v4hn
4026661bfe
Rewrite and relax approx comparisons
...
This is more readable.
Adjusting the threshold to 1e-4 is required to allow for tolerances
in potential sampling planner steps in between.
2018-06-01 11:32:29 +02:00
v4hn
bd1edcbde7
add max_solutions param to plan()
...
For big problems you just don't want *all* solutions
2018-06-01 11:13:44 +02:00
Robert Haschke
ac1ccba883
minor formatting changes ( #51 )
2018-05-31 18:01:30 +02:00
Robert Haschke
b35aba6e19
validate merged trajectories
2018-05-30 21:23:34 +02:00
Robert Haschke
941e9df737
declare properties "timeout", "marker_ns" for all stages
2018-05-30 21:21:14 +02:00
Robert Haschke
c2dd28abae
rework storing of solutions
...
- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers
- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
allows for common handling of states of valid and failure solutions
- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*
2018-05-30 21:02:50 +02:00
v4hn
ae6b86c7d7
remove void line
...
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b
correctly reset FixedState
2018-05-30 21:02:03 +02:00
Robert Haschke
52fdf30433
simplify compute() API
...
- remove bool return value
- always create a solution trajectory, also in case of failures
- success/failure determined from solution.isFailure()
minor adjustments during cherry-pick
2018-05-30 21:01:34 +02:00
Robert Haschke
eb50aaed0e
SolutionBase: rename 'name' to 'comment'
2018-05-30 20:25:42 +02:00
Robert Haschke
84dec07565
MoveTo/MoveRelative: generic IK target frame
...
...instead of simple link name
2018-05-30 20:25:07 +02:00
v4hn
495c80350b
Merge branches 'joint_pose', 'move-relative-joints', 'basic-merger' and 'compute-ik'
2018-05-30 19:35:58 +02:00
v4hn
015b1466f4
MoveRel: handle unknown links with hard failure
2018-05-30 19:09:57 +02:00
v4hn
56c9128d99
MoveTo: cleaner strict handling of invalid properties
2018-05-30 18:53:39 +02:00
v4hn
b8e6e5e2fa
MoveTo: reduce scope of try-catch
2018-05-30 18:44:26 +02:00
v4hn
bbd274da96
MoveTo: simplify getJointStateGoal
2018-05-30 18:42:31 +02:00
Robert Haschke
b7b7a916df
basic merger functionality
2018-05-18 17:44:55 +02:00
Robert Haschke
5e8117720e
ignore failures for further processing
2018-05-18 17:44:43 +02:00
Robert Haschke
abb68da083
forward properties
2018-05-18 17:44:43 +02:00
Robert Haschke
ce10d96c5c
ComputeIK: report collision pairs
2018-05-18 17:44:43 +02:00
Robert Haschke
41e64ed7e1
remove std::map serialization
2018-05-18 17:44:30 +02:00
Robert Haschke
40ca35085a
cleanup
2018-05-18 17:44:30 +02:00
llach
9a7aa4dad7
Pick: added setter for relative joint lift motion
2018-05-18 17:44:30 +02:00
llach
d0c8f7f819
MoveRelative: added relative joint space goals to
2018-05-18 17:44:30 +02:00
llach
0779c255df
added stream serialization for std::map<std::string, T>
2018-05-18 17:44:30 +02:00
Robert Haschke
9e19f2187b
moved implementations of property setters to header
2018-05-18 17:44:17 +02:00
Robert Haschke
17e487be06
cleanup
...
- indentation: space -> tabs
- only consider joints of JMG
2018-05-18 17:44:17 +02:00
llach
2be3ee611b
adapted MoveTo api change. joint_pose -> named_joint_pose
2018-05-18 17:44:17 +02:00
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
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
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
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
v4hn
1424b51f79
expose typed setters in Cartesian solver
2018-04-05 22:53:24 +02:00
Robert Haschke
77442c0eed
Connect: allow multiple groups to be processed in series
2018-04-05 13:51:50 +02:00
Robert Haschke
8811045f89
setCreator() once in StagePrivate::newSolution()
2018-04-05 13:51:50 +02:00
Robert Haschke
9ceecd235f
SerialSolution -> SolutionSequence
2018-04-05 13:51:50 +02:00
Robert Haschke
4d77390d77
validate existence of object frame in init()
2018-04-05 13:50:09 +02:00
Robert Haschke
9e1c3059e1
derive GenerateGraspPose from GeneratePose
2018-04-05 13:50:09 +02:00
Robert Haschke
3640928a76
postpone pose transformation
2018-04-05 13:50:09 +02:00
Robert Haschke
603696f294
add missing reset()
2018-04-05 13:50:09 +02:00
v4hn
76c6ba14fa
add a simple GeneratePose stage
...
ComputeIK is a wrapper, so we can't just give it a pose to compute.
2018-04-05 13:50:09 +02:00
llach
a82a48bb70
fix PropertyMap::exposeTo: use other_name as new name for property ( #40 )
2018-04-05 13:47:23 +02:00
llach
124979e2a8
MoveRelative: adapt msgs to fit class name ( #39 )
2018-04-05 13:46:13 +02:00