Commit Graph

458 Commits

Author SHA1 Message Date
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
cf84f261a0 travis: enable ccache 2018-04-27 19:58:15 +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
320fe7e444 fix mem leaks 2018-04-27 12:06:14 +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
cd88b22469 update trail in both directions:
- show new steps if current_state_ advanced
- hide steps if current_state_ reverted
2018-04-15 11:25:01 +02:00
Robert Haschke
534985bdbb show start / end scene for empty trajectories 2018-04-15 11:25:01 +02:00
Robert Haschke
962fe2a42d reworked TaskSolution visualization
- code simplification
- allow slider interaction at any time
- keep last frame visible if animation finished
- animating_ is true iff animation is running
  (previously it was also used to indicate the end of an animation cycle)
2018-04-15 11:25:01 +02:00
Robert Haschke
24e8b95203 TaskSolutionVisualization: solution_to_display_ -> next_solution_to_display_ 2018-04-15 11:25:01 +02:00
Robert Haschke
6e08f32ef2 enable ccache 2018-04-15 11:24:44 +02:00
Robert Haschke
c3f42b66f7 travis fix 2018-04-15 11:24:44 +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