Commit Graph

723 Commits

Author SHA1 Message Date
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
Michael Görner
1783587f41 add missing header (#100)
... for Qt 5.12.3
2019-07-12 17:25:10 +02:00
v4hn
0b47224ef1 micro-fix whitespace
Let's use clang-format...
2019-07-12 13:51:21 +02:00
Robert Haschke
57acd747c5 Travis: Use ros-shadow-fixed repository
We rely on libmoveit_test_utils, which is only released in 1.0.2.
2019-07-12 12:42:49 +02:00
Robert Haschke
345c183d06 remove redundant nullptr checks before delete 2019-06-04 14:20:47 +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
Robert Haschke
44a75f689b Travis: build against MoveIt master too 2019-05-10 15:09:55 +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
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