Commit Graph

864 Commits

Author SHA1 Message Date
Robert Haschke
88c217e9a6 Report exceptions (e.g. config issues) 2020-09-23 07:59:39 +02:00
Robert Haschke
7499f7b297 Report merge failures 2020-09-23 07:59:39 +02:00
Robert Haschke
14fc3d2586 Reject failures early 2020-09-23 07:59:39 +02:00
Robert Haschke
49b2ff8ce5 Test Merger 2020-09-22 11:06:34 +02:00
Robert Haschke
745d6739bd fix typo 2020-09-22 11:06:01 +02:00
Robert Haschke
8152994e52 Fix interface resolution 2020-09-22 10:57:49 +02:00
Robert Haschke
4089d5eefa Container::remove(): return removed Stage 2020-09-22 10:56:11 +02:00
Robert Haschke
198f8f5389 clearer naming of cost variables 2020-09-21 22:52:19 +02:00
v4hn
04a8afb16c melodic compatibility 2020-09-21 22:52:19 +02:00
v4hn
5d0fd57754 initialize default CostTerm in constructor
It seems to be too fragile to rely on `init` being called.
On the other hand we should really enforce this anyway. -.-
2020-09-21 22:52:19 +02:00
Robert Haschke
687fcb6a6d Update comments to solution's computeCost() methods 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
cce7380f9d Clearance: provide better interface for different modes
Interface::Direction should always designate a valid direction.
2020-09-21 22:52:19 +02:00
v4hn
f63d5b6892 Make transform in cost::Clearance configurable
In theory this can be done with a PassThrough with a modifying transform,
but this specific mapping is intrinsic to the definition of Clearance as a cost.
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
64e2440c53 simplify LinkMotion computation
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
1689f6cd95 introduce new trivial stage Forward
This can be used together with a custom CostTerm to modify costs of a solution.
2020-09-21 22:31:52 +02:00
v4hn
0e38730fd4 compute cost in liftSolution as well 2020-09-21 22:31:52 +02:00
v4hn
939f0b7256 setCostTermShort(nullptr) must not set a valid function 2020-09-21 22:31:52 +02:00
v4hn
a0975e3afc avoid ambiguity of setCostTerm(nullptr) 2020-09-21 22:31:52 +02:00
v4hn
d68ab383b6 allow setCostTerm for containers
implement visitor pattern for cost computation on solutions

- compute cost terms for solution subtrees instead of only for SubTrajectory

- allows users to set cost terms for containers
2020-09-21 22:31:24 +02:00
v4hn
039b0a2c27 move more overhead to computeCost 2020-09-21 22:31:23 +02:00
v4hn
e53d943b75 remove CostTransform
If required, this can hopefully be implemented through Wrapper stages soon.
2020-09-21 22:31:23 +02:00
v4hn
53c0964618 cost computation: provide valid interface states for Solution
The CostTerm's should get only a single solution that is well-setup
with its InterfaceStates. That's impossible though because these
states are stored in different places depending on the cost.

To avoid this, set stub states for cost computation
and change them to the real states later on.

This is motivated by the Clearance cost which can act on an InterfaceState only.
2020-09-21 22:31:23 +02:00
v4hn
bbf7d415f6 make cost operators const 2020-09-21 22:28:36 +02:00
v4hn
1f8feaaf0a refactor addCost->computeCost 2020-09-21 22:26:25 +02:00
v4hn
d2bd0a0037 generalize Clearance cost
- can now be used to estimate cost for either interface state or the trajectory
- Introduced Interface::Direction NONE as a way of pointing to the trajectory in contrast to START or END
2020-09-21 22:26:25 +02:00
v4hn
7a00ac646e add missing license 2020-09-21 22:24:44 +02:00
v4hn
14c885621f remove Cost suffix for elements in mtc::cost:: 2020-09-21 22:24:44 +02:00
v4hn
9a96a7e4f6 implement LinkMotionCost 2020-09-21 22:24:44 +02:00
v4hn
6dbc742f20 implement correct PathLengthCost
The previous implementation depends on the dynamics limits of the robot,
which might be interesting in some cases, but shouldn't be a default anywhere.
2020-09-21 22:24:44 +02:00
v4hn
a92753dafc add cumulative distance to ClearanceCost 2020-09-21 22:24:44 +02:00
v4hn
18ed51d7f3 turn Clearance cost into parameterized struct
There is a lot of variations for how to compute clearance.
2020-09-21 22:24:44 +02:00
v4hn
cf0e4e3b01 establish struct cost pattern
for costs with multiple parameters, this option-style is more useful
than verbose getter/setter. There is nothing to hide here.
2020-09-21 22:24:07 +02:00
v4hn
f9ba302728 enable costs to (optionally) return a comment
With more complicated costs (such as the ClearanceCost), it's useful to get comments.
2020-09-21 22:22:37 +02:00
v4hn
a15204b40b allow wrappers to use CostTerm 2020-09-21 22:22:37 +02:00
v4hn
56268cb6cc first attempts on ClearanceCost 2020-09-21 22:22:37 +02:00
v4hn
9060404037 improve comments 2020-09-21 22:22:37 +02:00
v4hn
f3fec26f5a add CostTransform
CostTerms only apply to primitive solutions and generalizing them
to Containers would make them quite unintuitive (and adds overhead).

Instead CostTransform can be used in any container to scale, crop, square
the cost of the solutions.

I initially thought about adding scaling factors, but then again,
other transforms are of interest just as well.
2020-09-21 22:22:37 +02:00
v4hn
f79625d1bd fully restrict CostTerms to primitive solutions
simplify implementations.
2020-09-21 22:22:37 +02:00
v4hn
ffc62c2d11 add explicit default CostTerms to most basic stages
Simplifies code and makes the costs of each stage explicit.
2020-09-21 22:22:37 +02:00
v4hn
9eae554d89 provide Constant and PathLength cost terms 2020-09-21 22:22:37 +02:00
v4hn
9337743de2 add CostTerm interface
basic stages can now be configured with arbitrary cost terms.
2020-09-21 18:02:49 +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
Robert Haschke
97e0b437f2 Silence -Wdeprecated-declarations due to std::auto_ptr 2020-09-07 23:18:43 +02:00
Robert Haschke
7306878b9e Merge branch master into wip-python-api 2020-09-07 23:18:20 +02:00
v4hn
c510c6b5b6 WrappedSolution: expose child solution
SolutionSequence allows to access children already,
but WrappedSolution blocked access to the full hierarchy.
2020-08-21 14:41:22 +02:00
v4hn
4a6c389aee expose WrappedSolution together with other Solution types
Moved out of private header.

Users can access these objects, so they should know about the type.
2020-08-21 14:41:22 +02:00
v4hn
7609f0b1e2 Solution: export public creator
It's a public interface, returning private pointer is not neat.
2020-08-21 14:41:22 +02:00
v4hn
3aa0cfc1a2 InterfaceState: provide constructor with initial Priority
most useful to prepare a valid InterfaceState in tests
2020-08-21 14:41:22 +02:00
v4hn
6e0e323a58 PredicateFilter: actually use declared property 2020-08-20 15:29:45 +02:00
v4hn
310ca3ef15 MoveTo: support map<string,double> joint target
There was a corresponding setGoal method already, but no implementation...
2020-08-20 15:20:29 +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
62813f33f7 fix c&p error in documentation 2020-08-11 20:43:34 +02:00
v4hn
62d894199f expose Stage API to get the matching introspection ID
This was implicitly requested in #192 .
2020-08-11 20:43:34 +02:00
v4hn
6bebe3f3ed do not mix pimpl() and impl for no reason 2020-08-11 20:43:34 +02:00
v4hn
03c7f55fcc fix unused-parameter warning 2020-08-11 20:43:34 +02:00
v4hn
e861d311e0 fix comment typo 2020-08-11 20:43:34 +02:00
v4hn
d031f1b1e3 send a single reset message when introspection is enabled
My previous patches accidentally disabled *all* (3) reset messages,
instead of keeping exactly one. This patch sends exactly one empty description
(reset) message every time an introspection instance is constructed for a task.

Notice the additional increase of the description queue_size from 1 to 2 to avoid
directly dropping the reset message in favor of the new description likely to be send
shortly afterwards.
2020-07-22 12:57:34 +02:00
v4hn
7ba73306ca introspection *can* be disabled
Otherwise a new task will always setup the publisher,
even if introspection is disabled afterwards.

It is a good idea to keep introspection on, but there should be a way to initialize the C++ classes without ROS communication.
2020-07-22 12:57:34 +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
21f3d95128 fix autocomplete typo 2020-07-22 12:57:34 +02:00
Robert Haschke
0902d432ce Improve code readability 2020-07-01 22:13:21 +02:00
Robert Haschke
ee7ebb3b96
SolutionMsg: always fill start_scene (#175)
So far, the start_scene field of a SolutionMsg was only filled by  Introspection::fillSolution(),
but not yet by Task::execute().

Addendum(v4hn): The previous approach was actually reasonable too (although the scene should have been marked as `is_diff`) for solutions sent for execution, but keeping the full start_scene around can facilitate debugging from recorded data.
2020-06-18 11:07:05 +02:00
Robert Haschke
1610f5ab1d MoveRelative: provide failure message 2020-06-13 22:48:48 +02:00
v4hn
15707673ed clang-tidy: performance-*
I NOLINTed the noexcept move constructor for Task for now because
the constructor *can* indeed throw exceptions.
2020-06-11 11:03:50 +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
fa041ed2e6 clang-format: readability-container-size-empty 2020-06-11 11:03:50 +02:00
v4hn
b762079478 clang-tidy: readability-named-parameters 2020-06-11 11:03:50 +02:00
v4hn
5da2df4c61 clang-tidy: modernize-use-nullptr 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
v4hn
c662311a78 grant access to subsolutions of a sequence
SubTrajectory allows to access the trajectory,
but for SolutionSequence is was not needed until now.
2020-06-11 11:03:50 +02:00
v4hn
98cac4fd7c add informative comment 2020-06-11 11:03:50 +02:00
v4hn
ebf7b751d2 do not reset on plan
users can reset explicitly as needed.
Reset sends ROS messages and prevents { plan(1); plan(1) } style usage.
2020-06-11 11:03:50 +02:00
v4hn
b9839a3f22 check for valid robot model
Also, no need to reset() unless the model is different and not the first.
2020-06-11 11:03:50 +02:00
v4hn
b27939cb27 fix typo 2020-06-11 11:03:50 +02:00
v4hn
d224097f3f extend comment on unintuitive setter 2020-06-11 11:03:50 +02:00
Jafar Abdi
b3b215a4f7
Add ability to add/remove objects to/from planning scene (#165) 2020-05-05 18:28:54 +02:00
Aris Synodinos
2d99017c17
Fix for GCC5 (Ubuntu 16.04 / Kinetic) call to non-constexpr function (#163)
Co-authored-by: Aris Synodinos <aris.synodinos@unibap.com>
2020-04-22 11:48:08 +02:00
v4hn
72af8bc94b add convenience includes 2020-04-18 21:04:57 +02:00
v4hn
05ce4d796b expose group property 2020-04-17 18:48:18 +02:00
Robert Haschke
1f8dae86dd Merge #156: Rework interface resolution 2020-04-10 22:44:59 +02:00
Robert Haschke
c4d0ab0636 SerialContainer: Resolve interfaces of all stages 2020-04-10 20:25:54 +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
aa732d8c66 simplify internal API 2020-04-10 19:59:27 +02:00
Robert Haschke
e56c772ecb Combine pruneInterface() + validateConnectivity()
Validate interfaces during resolution. No need to separately validate interfaces.
Thus, validateConnectivity() is removed from Task::init().
Functions are kept (but simplified) for unit testing.
2020-04-10 19:59:27 +02:00
Robert Haschke
10260b9dd7 Further simplify interface resolution
* Do not modify explicitly configured direction of Propagator
* Avoid code duplication in pruneInterface() and validateConnectivity()
  Only implement pruneInterface() for stages that actually need to adapt their interface.
2020-04-10 19:59:23 +02:00
Robert Haschke
4d8d32dda5 New test: keep previously configured propagate interface 2020-04-10 19:39:32 +02:00
Robert Haschke
9116e92d08 minor cleanup, fixing warnings, improving comments 2020-04-10 19:39:32 +02:00
Robert Haschke
a98d5ed8ae templated flowSymbol<input/output mask>(flags)
* Enforce at compile time that either input or output flags are considered.
* Use horizontal flow symbols (as in console output).
* Replace redundant direction(flags).
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
Jafar Abdi
b4fb8bb435
Allow constructing PipelinePlanner from PlanningPipelinePtr (#155) 2020-04-08 17:36:02 +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
v4hn
5ae7e54732 treat empty container as init exception 2020-04-08 13:27:21 +02:00
v4hn
87d70a5da1 minor documentation improvements 2020-04-08 13:27:14 +02:00
v4hn
b0df621f66 bump cmake version
get rid of CMP0048 warning.
2020-04-03 12:14:57 +02:00
Robert Haschke
f1acfa2f7e
Merge pull request #151: Various fixes 2020-04-03 11:58:19 +02:00
v4hn
00331414a6 merge: update states only once per waypoint 2020-04-03 11:36:05 +02:00
Robert Haschke
8834ce18f7 simplify trajectory merging
avoid code duplication: reuse merge(std::vector<JointModelGroup*>)
2020-04-03 11:36:05 +02:00
Robert Haschke
8debe68f99 fix joint_interpolation
- return a trajectory in any case (even if there is no motion needed)
- check feasability of goal pose
2020-04-03 11:36:05 +02:00
v4hn
07f62aa72f add override in Task
I very much considered just removing the protected inheritance again,
but it would add unnecessary code duplication.

Take note, the overriding `insert` function bypasses the Wrapper and directly forwards to the wrapped container.
This is somewhat dirty and could be an issue for anyone inheriting from `Task`.
2020-04-01 15:05:20 +02:00
v4hn
7cd82d5c04 resolve clang warnings & suggestions 2020-04-01 15:05:20 +02:00
v4hn
8578a64ac0 correct sign for StageCallback type
backward compatible, the function type implicitly converts from previous int definitions.
2020-04-01 15:05:20 +02:00
v4hn
cc86dd8a74 rename Task::erase -> eraseTaskCallback
`erase` is too general for a container class,
when it's not actually about erasing children or the container itself.
2020-04-01 15:05:20 +02:00
v4hn
c046ec605d streamline add/insert interfaces for Task/Container
`add` falls back to `insert` for both structures,
but `add` throws exceptions and does not provide a return value.

`insert` provides standard STL container access.
2020-04-01 15:05:20 +02:00
v4hn
df8a783239 enforce one-parent policy in StagePrivate
So new containers cannot get this wrong by accident.
2020-04-01 15:05:20 +02:00
Michael Görner
90f5d22e83
do not export inline functions (#147)
This makes sure that code using `pimpl()` will not compile out of the box unless the _p header is included.
2020-03-29 20:47:26 +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
v4hn
8f56d4ae79 avoid copy from const id reference
This mustn't compile as users got confused about it:
```
Task t;
t.id() = "foobar";
```
2020-03-05 12:08:59 +01:00
Robert Haschke
9ee653453d Container: abort traversal with false return value of processor
So far, returning false from the processor function, just skipped further traversing the current child (depth-wise).
Now, traversal is completely aborted, even not traversing the remaining siblings of the current child.
Having a single boolean return value, we cannot distinguish both cases.
We need the new behaviour for 8061945c15bea22e8f8899c987bc28e3542885aa.
2020-03-03 17:57:06 +01:00
Mark Moll
0d6f79050a don't install PIMPL header files (#119) 2020-03-03 17:21:54 +01:00
Markus Vieth
534d520a04
Add return value to Task::execute (#136) 2020-02-20 11:31:51 +01:00
Robert Haschke
d10565cabf fix memory access issue
Fixes #132.
2020-02-18 09:01:00 +01:00
Aris Synodinos
8ac9957b55
Added C++11 flags for MOVEIT_MASTER check (#129) 2020-02-12 21:59:33 +01:00
Robert Haschke
463486257b Merge #120: Add computation timing 2020-02-06 16:18:49 +01:00
Jafar Abdi
fa9b177575 transmit and display computation in rviz 2020-02-06 16:18:20 +01:00
Jafar Abdi
aa11b66824 use runCompute() 2020-02-06 16:17:55 +01:00
Jafar Abdi
89fea00b33 Stage::runCompute() to measure computation time 2020-02-06 16:17:04 +01:00
Robert Haschke
5a85343490 Merge branch master into wip-python-api 2020-01-11 09:17:32 +01:00
Robert Haschke
ba815cff34 Task: don't publish solutions by default
Having multiple solutions, automatic publishing of intermediate solutions is confusing.
One never knows, which one is the final one. If desired, the user should setup a hook for this.
2020-01-11 09:00:34 +01:00
Henning Kayser
c1f6ca8e84 Expose SolutionCallback API in Task (#121) 2020-01-11 08:33:57 +01:00
Robert Haschke
f88bd8f54d RosMsgConverter: ensure that python and C++ types match 2020-01-11 07:56:47 +01:00
Robert Haschke
5293d2ed27 simplify method overloads 2020-01-11 07:56:47 +01:00
Robert Haschke
7d0daa6cd4 boost::python: provide generic converter for std::map 2020-01-11 07:55:31 +01:00
v4hn
233d63aa7a avoid deprecation warnings of MoveIt master branch
Use new methods
- moveit::core::isEmpty
- moveit::core::CartesianInterpolator::computeCartesianPath
2019-12-13 11:29:02 +01:00
Robert Haschke
acddc268ed compatibility to MoveIt master branch 2019-11-27 17:43:57 +01:00
Robert Haschke
3887b32ba1 fix MoveRelative::getJointStateFromOffset
Fix for #114: Accessing variable indexes was screwed.
2019-11-26 21:08:31 +01:00
Aris Synodinos
145bec1ed3 Added cost calculation in move_relative (#108) 2019-11-05 17:38:25 +01:00
Robert Haschke
facdc8e278 update RobotState in getJointStateGoal() 2019-11-02 22:02:56 +08:00
Robert Haschke
1ba4bc4508
MoveTo/MoveRelative: report failure on invalid trajectories (#107) 2019-10-22 12:06:11 +02:00
Robert Haschke
fd9462c27f Merge branch master into wip-python-api 2019-07-26 11:11:41 +02:00
Robert Haschke
975491fba9 Fixup: adding cost calculations to connect and move_to 2019-07-26 11:05:52 +02:00
Robert Haschke
4225671ae4 PipelinePlanner: always forward trajectory
(also in case of failure)
2019-07-19 13:45:07 +02:00
Robert Haschke
6ff1a5162f Fixup: adding cost calculations to connect and move_to
Need to handle nullptr trajectories.
2019-07-19 13:45:07 +02:00
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
Tyler Weaver
7ca49bc29b adding cost calculations to connect and move_to 2019-07-12 20:29:08 +02:00
v4hn
0b47224ef1 micro-fix whitespace
Let's use clang-format...
2019-07-12 13:51:21 +02:00
Robert Haschke
874994bdb5 test packages are required 2019-07-12 09:35:48 +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
26f679bd8e relax assertion 2019-05-16 18:12:20 +02:00
Robert Haschke
6cf0cbb4c9 improve comments 2019-05-16 18:02:08 +02:00
Michael Görner
267c214288 Overload setGoal to accept map of joint values as argument (#87) 2019-05-10 14:41:46 +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
102c80dda1 ParallelContainer: fix interface error reporting
need to separately check for start/end interface
2019-05-03 01:06:56 +02:00
Robert Haschke
d9a38f46ab SerialContainer: fix nested interface resolution
We need to distinguish two cases for how the interface of a nested serial container is determined:
1. from its children
2. from its (outer) context

As long as the interface is not fully resolved, requiredInterface() returns UNKNOWN.
After pruning, the first/last child's interface is remembered and reported instead.
2019-05-03 01:06:56 +02:00
Robert Haschke
fd1aa38a39 fix unit test definitions 2019-05-03 01:06:56 +02:00
Robert Haschke
135951f690 replace assertion by exception 2019-05-03 01:06:56 +02:00
Robert Haschke
f402cdec5e rename [INPUT|OUTPUT]_IF_MASK -> [START|END]_IF_MASK 2019-05-03 01:06:56 +02:00
Robert Haschke
28703af384 improve comments 2019-05-03 01:06:56 +02:00
Robert Haschke
ea75070155 cherry-pick changes from boost-python branch
stages: default arguments for constructors
properties: make iterator public
2019-05-02 14:55:34 +02:00
Robert Haschke
d4dfcf962b FixedCartesianPoses 2019-05-02 14:55:34 +02:00
Robert Haschke
cef6eb64bb ContainerBase::remove(Stage* child) 2019-05-02 14:55:34 +02:00
Robert Haschke
c62938a1c4 SimpleGrasp: only use generator if it's defined
UnGrasp doesn't need a grasp generator
2019-05-02 14:55:34 +02:00
Robert Haschke
29ecec7403 vary place pose depending on object shape
- boxes, cylinders: flip up/down, rotate about world's z
- spheres: rotate about world's z
2019-05-02 14:55:34 +02:00
Robert Haschke
168ff6f3f4 use simple InterpolationPlanner to open/close gripper 2019-05-02 14:55:34 +02:00
Robert Haschke
4063a3ca29 fix SimpleUnGrasp
- ComputeIK needs to be first sub stage for both, grasping and ungrasping
- correctly re-enable object collision checking
2019-05-02 14:55:34 +02:00
Robert Haschke
0fe18799d9 GeneratePlacePose 2019-05-02 14:55:34 +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
c56c7294e4 fix pruning
Never augment already derived interfaces, only prune!
2019-03-11 13:54:54 +01:00
Robert Haschke
48d93e803d improve SerialContainerPrivate::pruneInterface 2019-03-11 13:54:54 +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
10c7a9cfd7 prune UNKNOWN *and* PROPAGATE_BOTHWAYS
If PropagatingEitherWay's interface is not met in *both* directions (but only one),
in BOTHWAY mode, issue a warning. Otherwise handle both, AUTO and BOTHWAY mode,
in the same fashion when resolving interfaces.

TODO: move validateConnectivity() in StagePrivate.
default action = default action from ContainerBase.
PropagatingEitherWay: issue warning for case above
2019-03-11 13:54:54 +01:00
Robert Haschke
f831fe5483 fix comments + typos 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
d741f36ee3 fixup! improve error msg for mismatching container/child interfaces
We need to consider input and output interfaces separately.
Also, use console output symbols (<- / -> / <->)
2019-03-11 13:54:54 +01:00
Robert Haschke
1e953db649 non-const Property::value() 2019-03-10 17:55:46 +01:00
Robert Haschke
36df4f9975 MoveTo/MoveRelative: reduce default timeout to 1s 2019-03-10 17:55:15 +01:00
Robert Haschke
0304c22f7d ComputeIK: allow attached body as ik_frame 2019-03-10 17:50:45 +01:00
Robert Haschke
dd80c675fa cannot use cmake generator expressions in COMMENT 2019-02-21 01:03:03 +01:00
Robert Haschke
36b63f0e35 fixup wrapping of solvers
- wrap JointInterPolationPlanner
- remove properties: group, timeout
- add actual planner properties
2019-02-21 01:01:33 +01:00
Robert Haschke
95d05ea05c expose PropagatingEitherWay::restrictDirection()
fixup! expose PropagatingEitherWay::restrictDirectio()
2019-02-21 00:57:17 +01:00
Robert Haschke
c72a6cddac ComputeIK: auto-configure default timeout from JMG's default
TODO: actually set the default value but not the current value!
2019-02-21 00:53:26 +01:00
Robert Haschke
579c336558 Connecting: also check that attached objects match 2019-02-21 00:51:57 +01:00
Robert Haschke
e885c272fa Merger: skip empty sub trajectories for merging 2019-02-21 00:50:25 +01:00
Robert Haschke
1047ef08a4 ComputeIK: fix typo 2019-02-21 00:47:52 +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
v4hn
8392ed5ad3 generate IK solutions incrementally
This is not a good approach.
The same can be achieved by generating targets incrementally.
The better approach, to generate IK solutions incrementally,
has to maintain previous solutions for each target.
2019-02-10 08:17:34 +01:00
Robert Haschke
1e0a9401e7 Merge PR #72: rviz property visualization 2019-02-10 06:25:25 +01:00
Robert Haschke
e71376743c yamp-cpp parsing 2019-02-10 06:21:51 +01:00
Robert Haschke
a1c81f1236 YAML property serialization
- switch from ROS serialization/deserialization to YAML
- no native C++ deserialization for ROS msg types available
- drop Propert::print()
2019-02-10 06:21:51 +01:00
Robert Haschke
4ca794cb86 unify property handling in LocalTaskModel and RemoteTaskModel 2019-02-10 06:21:51 +01:00
Robert Haschke
71099c68d4 Task: fix RobotModelPtr leak
On Task::clear() also need to reset introspection's cache.
2019-02-09 01:00:29 +01:00
Robert Haschke
a1f7c5d1c6 improve error msg for mismatching container/child interfaces 2019-02-06 10:29:10 +01:00
Robert Haschke
81cc0aecc6 Property::type_index -> boost::typeindex::type_info
avoid decl expressions, explicit public typedef
2019-01-17 23:54:35 +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
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