Commit Graph

755 Commits

Author SHA1 Message Date
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
Dave Coleman
b364a8b5a2 README: clarify that the MTC is usable (#88) 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
e98849249a simplify/fix color interpolation 2019-03-10 17:47:59 +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
Robert Haschke
16e97f1caa TaskView: configure initial expansion state for tasks 2019-02-11 19:37:20 +01:00
Robert Haschke
1ce66c758b extensible TaskPanel
Provide TaskPanel::addSubPanel() to add new sub panels.
Each panel can be activated with an associated QToolButton.
Sub panels, derived from base class SubPanel, automatically load/save their config settings.
All settings are shown in GlobalSettingsWidget (renamed from TaskSettings).
2019-02-11 19:37:20 +01:00
Robert Haschke
6950cf2b8e create TaskPanel via rviz::VisualizationFrame::addPanelByName()
... ensuring that rviz also saves the panel's settings
2019-02-11 19:37:20 +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
e815fb41c2 RemoteTaskModel: all props read-only
... including ones registered in PropertyFactory
2019-02-10 06:21:51 +01:00
Robert Haschke
bb61513cb8 libyaml-based, incremental parsing of properties
... ensures display in document order
2019-02-10 06:21:51 +01:00
Robert Haschke
9810e3bb4b wip: understand event-based, incremental parsing with libyaml 2019-02-10 06:21:51 +01:00
Robert Haschke
e71376743c yamp-cpp parsing 2019-02-10 06:21:51 +01:00
Robert Haschke
20e951bf63 PropertyFactory::createDefault()
... creating a read-only rviz::Property from serialized mtc::Property value
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
6b77b15b2f update README 2019-02-07 16:57:51 +01:00
Robert Haschke
4263956079 fix Travis 2019-02-07 16:25:39 +01:00
Robert Haschke
a1f7c5d1c6 improve error msg for mismatching container/child interfaces 2019-02-06 10:29:10 +01:00
Robert Haschke
f9715f0c18 pass PlanningScene + DisplayContext to rviz::Property creation
... to allow properties to display scene-specific lists or create rviz markers
2019-01-18 00:11:17 +01:00
Robert Haschke
780e09145e stage-specific factories for PropertyTreeModel
To allow stages to display their properties in a custom fashion, e.g.
to show the end-effector marker for PoseStamped, we need to be able
to register stage-specific factories.
2019-01-18 00:11:17 +01:00
Robert Haschke
3f3c2f6bf9 Update MTC property on changes of rviz property 2019-01-18 00:11:17 +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