Commit Graph

55 Commits

Author SHA1 Message Date
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
7d25c55978 Container: more unit tests for interface detection / validation 2019-03-11 13:54:54 +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
Robert Haschke
b9a86eb5be use task id as default name of top-level stage 2018-11-08 12:55:45 +01:00
Robert Haschke
915151fdd2 modify ps: add convenience functions 2018-11-02 11:21:48 +01:00
v4hn
9740179f7f Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master 2018-10-22 17:31:01 +02:00
v4hn
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
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
af6f7b12bf pick_pa10: fix initialization of RobotState
only a subset of joints was initialized
2018-10-20 02:38:11 +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
e5e291d86f FixCollisions stage 2018-09-25 22:16:45 +02:00
Robert Haschke
ca9d50e7d8 fix compiler warnings 2018-09-25 13:30:53 +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
abc4c5de50 PropertyMap: allow any type 2018-06-03 09:18:37 +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
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
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
872e3cc004 unittest for Priority comparisons 2018-04-27 12:04:55 +02:00
Robert Haschke
7463621f56 move assignment operator 2018-04-09 21:10:08 +02:00
Robert Haschke
7ebc4b2c7e Task: move constructor 2018-04-09 21:10:08 +02:00
Robert Haschke
f0dc02e2c3 ContainerBasePrivate::position() -> childByIndex() 2018-03-26 00:24:25 +02:00
Robert Haschke
84f5c481be ContainerBasePrivate::position(): generically handle shifting 2018-03-26 00:24:25 +02:00
Robert Haschke
4fcac84d76 remove tests that do not test anything 2018-03-25 06:04:09 +02:00
Robert Haschke
9e5e098339 unittests
- provide simple hard-coded robot model
- test ComputeIK::init()
2018-03-25 06:04:09 +02:00
Robert Haschke
6d859840c3 fix interface detection for nested SerialContainers 2018-03-23 09:18:21 +01:00
eirtech
3e4aa19246 ParallelContainer: unittests 2018-02-25 13:22:14 +01:00
Robert Haschke
a2fd5fb7b8 more constexpr InterfaceFlags 2018-02-25 11:59:51 +01:00
Robert Haschke
a24039846a Merge branches 'analyze-property-errors' and 'fixes' 2018-02-24 13:45:51 +01:00
Robert Haschke
da9cdb5cf6 PropertyMap: different exception types
undeclared
undefined
type_error
2018-02-24 13:42:18 +01:00
Robert Haschke
cf54024379 fix derivation of propagation direction from connect stage 2018-02-24 13:42:12 +01:00
Robert Haschke
6a3456f961 unittest ContainerBasePrivate::position() 2018-02-24 13:42:12 +01:00
Robert Haschke
9cd6efe46f Stage::init(PlanningScene) -> Stage::init(RobotModel) 2018-02-24 13:37:50 +01:00
Robert Haschke
35f1540369 recursive interface auto-detection
trigger auto-detection from top (task) level:
only there we now for sure the accepted interface
2018-02-19 01:05:56 +01:00
Robert Haschke
f45a4e3e2c improve validation
- postpone pruning / interface auto-detection to top task-level
  only the task state knows for sure, that it requires its wrapped child to push to both ends
- perform connectivity validation only after pruning
  only then, we the interfaces are completely determined
2018-02-19 01:05:56 +01:00
Robert Haschke
a523333ef6 basic auto-detection of interfaces for propagating stages
works if propagation direction can be derived from a generator or
connecting stage within the sequence

start-to-end propagation through whole serial container still fails
2018-02-18 21:23:12 +01:00
Robert Haschke
ec2b06292e extended unittest for serial connection validation 2018-02-18 14:03:57 +01:00
Robert Haschke
2ea463fff4 replace std::cout with ros console 2018-02-16 16:01:05 +01:00
Robert Haschke
eaaaf07214 exploit default argument for Interface constructor 2018-02-12 23:39:46 +01:00
Robert Haschke
3a4dc6755b Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties' 2018-02-12 23:35:01 +01:00
Robert Haschke
fe2c4f312e serialize stage properties 2018-02-12 22:45:15 +01:00
Robert Haschke
c3eead0115 allow only a single inititialization source 2018-02-12 22:45:15 +01:00
Robert Haschke
c84fa4cdd6 cost ordered API 2018-02-12 22:36:12 +01:00
Robert Haschke
97bb6ef2c6 allow handling of failures
- store "failure" solutions to facilitate debugging
- Introspection assigns solution IDs as soon as they are created in a stage
  Thus, solution IDs represent their creation order.
  In contrast, the order of publishing (in StageStatistics) should
  represent the cost order.
- Storing failures is disabled if Introspection is not available.
2018-02-12 22:35:58 +01:00
Robert Haschke
fe05894709 renamed GenerateGraspPose::setGraspFrame() to setToolToGraspTF() 2018-02-04 09:01:45 +01:00
Robert Haschke
0918ad6897 implement IK as separate stage
... wrapping another stage
2018-02-04 09:01:45 +01:00