Commit Graph

17 Commits

Author SHA1 Message Date
Robert Haschke
622603268f move solution callbacks from task to stage
... allowing for solution callbacks to be registered at each stage
Using Introspection::publishSolution(), the individual solutions in some
stages could be replace by a general one.
2017-11-11 19:47:43 +01:00
Robert Haschke
cb85e1b864 publish task info in private namespace: ~/taskid
- default task id is empty
- introspection becomes member of task, created with Task::enableIntrospection(true)
2017-11-11 19:47:31 +01:00
Robert Haschke
8a461af97c TaskPanel: listen to task_monitoring topic 2017-11-02 09:53:28 +01:00
Robert Haschke
f6c3c7b27f replaced debug.cpp with introspection.cpp
providing all services to publish current task state, new solutions, etc.
2017-10-29 01:06:51 +02:00
Robert Haschke
f6a40a4a02 fixup! containers
accidentally committed sandbox
2017-10-20 16:40:11 +02:00
Robert Haschke
a32007613e renamed subtask -> stage 2017-10-16 09:24:21 +02:00
Robert Haschke
1b1a82f7c8 simplified SubTask API
- moved interface flags to private implementation
- moved newInputState() / newOutputState to private implementation
- directly implement sendBackward()/sendForward()
- removed scene_, planner_ from SubTaskPrivate
  ... replaced by init(scene) call
- renamings
  - array_type -> container_type
  - ...AnyWay -> ...EitherWay
  - input -> start
  - output -> end
2017-10-11 23:34:49 +02:00
Robert Haschke
bb06eda33c containers
- allow hierarchical organization of stages (serially for now)
- validate correctness of tree (at composition time, i.e. runtime)
- derive Task from SerialContainer
- fix pimpl_func(), PRIVATE_CLASS declaration in "public" section to allow access in tests
2017-10-04 00:11:22 +02:00
Robert Haschke
6d10f7e835 moved plan publishing into debug.cpp 2017-09-28 20:35:44 -07:00
v4hn
557b1cbe16 ur5 demo: max ik solutions is 8 with UR5 2017-09-13 12:10:15 +02:00
v4hn
8501bb8ae1 ur5 demo: use negative delta 2017-09-13 12:01:06 +02:00
v4hn
d801c4441c simplify interface
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
344713536d demo ur5: spawn object in the beginning 2017-03-24 12:43:43 +01:00
v4hn
e0e1c77eb4 change co to cylinder 2017-03-11 12:12:52 +01:00
v4hn
9717250908 name ur5 demo explicitly 2017-03-11 12:12:26 +01:00
v4hn
7b7e8cf3c5 add pick demo with trixi 2017-03-07 15:06:31 +01:00
v4hn
76114d5fbd split up build into subfolders for tests/demos 2017-03-07 15:04:42 +01:00