Commit Graph

658 Commits

Author SHA1 Message Date
Robert Haschke
f1acfa2f7e
Merge pull request #151: Various fixes 2020-04-03 11:58:19 +02:00
v4hn
00331414a6 merge: update states only once per waypoint 2020-04-03 11:36:05 +02:00
Robert Haschke
8834ce18f7 simplify trajectory merging
avoid code duplication: reuse merge(std::vector<JointModelGroup*>)
2020-04-03 11:36:05 +02:00
Robert Haschke
8debe68f99 fix joint_interpolation
- return a trajectory in any case (even if there is no motion needed)
- check feasability of goal pose
2020-04-03 11:36:05 +02:00
v4hn
07f62aa72f add override in Task
I very much considered just removing the protected inheritance again,
but it would add unnecessary code duplication.

Take note, the overriding `insert` function bypasses the Wrapper and directly forwards to the wrapped container.
This is somewhat dirty and could be an issue for anyone inheriting from `Task`.
2020-04-01 15:05:20 +02:00
v4hn
7cd82d5c04 resolve clang warnings & suggestions 2020-04-01 15:05:20 +02:00
v4hn
8578a64ac0 correct sign for StageCallback type
backward compatible, the function type implicitly converts from previous int definitions.
2020-04-01 15:05:20 +02:00
v4hn
cc86dd8a74 rename Task::erase -> eraseTaskCallback
`erase` is too general for a container class,
when it's not actually about erasing children or the container itself.
2020-04-01 15:05:20 +02:00
v4hn
c046ec605d streamline add/insert interfaces for Task/Container
`add` falls back to `insert` for both structures,
but `add` throws exceptions and does not provide a return value.

`insert` provides standard STL container access.
2020-04-01 15:05:20 +02:00
v4hn
df8a783239 enforce one-parent policy in StagePrivate
So new containers cannot get this wrong by accident.
2020-04-01 15:05:20 +02:00
Michael Görner
90f5d22e83
do not export inline functions (#147)
This makes sure that code using `pimpl()` will not compile out of the box unless the _p header is included.
2020-03-29 20:47:26 +02:00
Michael Görner
0eae0e652e
build tests using gmock via catkin_add_gmock (#148)
Otherwise these suddenly started to fail for me on Lunar Linux...
2020-03-20 20:33:33 +01:00
v4hn
8f56d4ae79 avoid copy from const id reference
This mustn't compile as users got confused about it:
```
Task t;
t.id() = "foobar";
```
2020-03-05 12:08:59 +01:00
Robert Haschke
9ee653453d Container: abort traversal with false return value of processor
So far, returning false from the processor function, just skipped further traversing the current child (depth-wise).
Now, traversal is completely aborted, even not traversing the remaining siblings of the current child.
Having a single boolean return value, we cannot distinguish both cases.
We need the new behaviour for 8061945c15bea22e8f8899c987bc28e3542885aa.
2020-03-03 17:57:06 +01:00
Mark Moll
0d6f79050a don't install PIMPL header files (#119) 2020-03-03 17:21:54 +01:00
Markus Vieth
534d520a04
Add return value to Task::execute (#136) 2020-02-20 11:31:51 +01:00
Robert Haschke
d10565cabf fix memory access issue
Fixes #132.
2020-02-18 09:01:00 +01:00
Aris Synodinos
8ac9957b55
Added C++11 flags for MOVEIT_MASTER check (#129) 2020-02-12 21:59:33 +01:00
Robert Haschke
463486257b Merge #120: Add computation timing 2020-02-06 16:18:49 +01:00
Jafar Abdi
fa9b177575 transmit and display computation in rviz 2020-02-06 16:18:20 +01:00
Jafar Abdi
aa11b66824 use runCompute() 2020-02-06 16:17:55 +01:00
Jafar Abdi
89fea00b33 Stage::runCompute() to measure computation time 2020-02-06 16:17:04 +01:00
Robert Haschke
5a85343490 Merge branch master into wip-python-api 2020-01-11 09:17:32 +01:00
Robert Haschke
ba815cff34 Task: don't publish solutions by default
Having multiple solutions, automatic publishing of intermediate solutions is confusing.
One never knows, which one is the final one. If desired, the user should setup a hook for this.
2020-01-11 09:00:34 +01:00
Henning Kayser
c1f6ca8e84 Expose SolutionCallback API in Task (#121) 2020-01-11 08:33:57 +01:00
Robert Haschke
f88bd8f54d RosMsgConverter: ensure that python and C++ types match 2020-01-11 07:56:47 +01:00
Robert Haschke
5293d2ed27 simplify method overloads 2020-01-11 07:56:47 +01:00
Robert Haschke
7d0daa6cd4 boost::python: provide generic converter for std::map 2020-01-11 07:55:31 +01:00
v4hn
233d63aa7a avoid deprecation warnings of MoveIt master branch
Use new methods
- moveit::core::isEmpty
- moveit::core::CartesianInterpolator::computeCartesianPath
2019-12-13 11:29:02 +01:00
Robert Haschke
acddc268ed compatibility to MoveIt master branch 2019-11-27 17:43:57 +01:00
Robert Haschke
3887b32ba1 fix MoveRelative::getJointStateFromOffset
Fix for #114: Accessing variable indexes was screwed.
2019-11-26 21:08:31 +01:00
Aris Synodinos
145bec1ed3 Added cost calculation in move_relative (#108) 2019-11-05 17:38:25 +01:00
Robert Haschke
facdc8e278 update RobotState in getJointStateGoal() 2019-11-02 22:02:56 +08:00
Robert Haschke
1ba4bc4508
MoveTo/MoveRelative: report failure on invalid trajectories (#107) 2019-10-22 12:06:11 +02:00
Robert Haschke
fd9462c27f Merge branch master into wip-python-api 2019-07-26 11:11:41 +02:00
Robert Haschke
975491fba9 Fixup: adding cost calculations to connect and move_to 2019-07-26 11:05:52 +02:00
Robert Haschke
4225671ae4 PipelinePlanner: always forward trajectory
(also in case of failure)
2019-07-19 13:45:07 +02:00
Robert Haschke
6ff1a5162f Fixup: adding cost calculations to connect and move_to
Need to handle nullptr trajectories.
2019-07-19 13:45:07 +02:00
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
v4hn
0b47224ef1 micro-fix whitespace
Let's use clang-format...
2019-07-12 13:51:21 +02:00
Robert Haschke
874994bdb5 test packages are required 2019-07-12 09:35:48 +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
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
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
dd80c675fa cannot use cmake generator expressions in COMMENT 2019-02-21 01:03:03 +01:00
Robert Haschke
36b63f0e35 fixup wrapping of solvers
- wrap JointInterPolationPlanner
- remove properties: group, timeout
- add actual planner properties
2019-02-21 01:01:33 +01:00
Robert Haschke
95d05ea05c expose PropagatingEitherWay::restrictDirection()
fixup! expose PropagatingEitherWay::restrictDirectio()
2019-02-21 00:57:17 +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
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
e71376743c yamp-cpp parsing 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
a1f7c5d1c6 improve error msg for mismatching container/child interfaces 2019-02-06 10:29:10 +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
Robert Haschke
ae75c3aa7f Eigen::Affine3 -> Eigen::Isometry3 2018-11-28 08:14:44 +01:00
v4hn
cd9115483b let marker_ns default to stage name
The stages can still decide on their namespaces on their own,
but markerNS() at least provides a stage-specific name they can use.
2018-11-09 10:50:48 +01:00
v4hn
3176aff30f add accessors for marker_ns property 2018-11-09 10:50:40 +01:00
v4hn
ac3b56a160 document timeout() helpers 2018-11-09 10:50:33 +01:00
v4hn
6b4b4ca624 ComputeIK: threshold for new solutions as property 2018-11-09 10:50:14 +01:00
v4hn
b379ba2268 fix broken rvalue-forward & SerialContainer assert
Release mode builds previously produced broken solutions with too many entries,
debug build triggered the assert

container.cpp:334: assert(solution.empty())

The standard guarantees std::vector(&&a) leaves a.empty() == true,
so the logic there is fine as long as subsolutions is actually
used for move-construction.
2018-11-09 10:47:51 +01:00
Robert Haschke
b9a86eb5be use task id as default name of top-level stage 2018-11-08 12:55:45 +01:00
v4hn
a86eca9ada predicate filter: fix documentation 2018-11-02 15:51:24 +01:00
v4hn
cc90d5f3f2 add PredicateFilter 2018-11-02 11:53:09 +01:00
Robert Haschke
5af54b5a21 GenerateGraspPose: spawn failure if object unknown 2018-11-02 11:36:00 +01:00
Robert Haschke
0f31cdee2e move storeFailures() into public Stage API 2018-11-02 11:36:00 +01:00
Robert Haschke
915151fdd2 modify ps: add convenience functions 2018-11-02 11:21:48 +01:00
janEbert
c59e41042f Add test for all stages' PropertyMaps
Iterate over all stages and their properties to see check for missing conversion functions.
2018-10-29 18:00:49 +01:00
Robert Haschke
bb5b29d5fd disable python default constructors for some classes
these classes do not yet handle nullptr as their argument
2018-10-29 18:00:49 +01:00
janEbert
00d5b00ec4 Provide default constructors for all stages 2018-10-29 18:00:49 +01:00
Robert Haschke
df820738c8 cleanup converter for ros::Duration 2018-10-29 18:00:49 +01:00
janEbert
e79f0f3054 add converter for std::set<std::string> 2018-10-29 18:00:49 +01:00
janEbert
fab40f64ed register enum Connect::MergeMode 2018-10-29 18:00:49 +01:00
Robert Haschke
2f8ded2a4e fixup! generalize Property conversion between C++ and Python 2018-10-29 18:00:49 +01:00
Robert Haschke
ed44c2cb33 adapt API: MoveRelative::setGoal -> setDirection 2018-10-25 03:27:10 +02:00
Robert Haschke
ff6661e8ba python wrappers for new functionality since last merge 2018-10-25 03:26:43 +02:00
Robert Haschke
377dd11950 Merge branch 'master' into boost-python 2018-10-25 03:24:24 +02:00
v4hn
e5fc8b62b4 MoveRelative: possibly update last waypoint before transform lookup
Apparently this RobotState is not necessarily updated,
this broke some pipeline testing over here.
2018-10-25 00:12:46 +02:00
v4hn
38cc4c6936 add comment to subtrajectory 2018-10-25 00:12:46 +02:00
v4hn
80adcb9e24 add comments to wrapped solutions 2018-10-24 11:53:14 +02:00
v4hn
73b35ef2bf do not send failures to parent
It is enough for us to investigate these locally
2018-10-24 11:47:42 +02:00
v4hn
932497ce6d do not pass failures on to monitors
They should not work with them and this
removes the need for the usual `if(s.isFailure) return`.
2018-10-24 11:44:26 +02:00
Robert Haschke
d6714e89ab fixup! rename "goal" to "direction" 2018-10-23 21:09:07 +02:00
Robert Haschke
b511110ae6 remove dummy file 2018-10-23 01:30:33 +02:00
v4hn
9740179f7f Merge branches 'cleanup-planner-interface', 'connect', 'fix-visualization' and 'rviz-createMarker' into master 2018-10-22 17:31:01 +02:00
v4hn
7fcef54a0e fixup! add name to Connecting DEBUG output
This is important to differentiate between different Connect stages.
2018-10-22 17:28:52 +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
v4hn
a05a76fd8c fixup! add properties for conditional debug output
in MoveIt planner.

These can be quite helpful.
I agree, we really don't need them enabled by default.
2018-10-22 16:59:24 +02:00
Robert Haschke
70e32cb0b3 Connect: skip initial PlanningScene::diff() 2018-10-21 00:27:50 +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
b5b58ea0ca Introspection::solutionFromId() 2018-10-20 23:33:54 +02:00
Robert Haschke
02ed4d3579 Connect: verbose debugging output in case of state incompatibilities 2018-10-20 23:32:43 +02:00
Robert Haschke
c6f985be3a Connect: allow different merge modes
for now:
SEQUENTIAL (no merging)
WAYPOINTS (naive)
2018-10-20 23:32:43 +02:00
Robert Haschke
ba88c59201
Merge pull request #54 from ros-planning/pr-capability
ExecuteTaskSolution capability
2018-10-20 23:25:48 +02:00
Robert Haschke
1e39da2388 fix stage "FixCollisionObjects"
... correction wasn't initialized to zero, resulting in random NaNs
2018-10-20 22:59:27 +02:00
Robert Haschke
a0a9738a00 update PlanningScene's RobotState before storing it 2018-10-20 22:02:05 +02:00
Robert Haschke
e894d8bce2 fix caching of PlanningPipeline ptrs
Need to reset cache if corresponding RobotModel was destroyed.
To this end, we cannot simply use the RobotModel's name.
2018-10-20 21:50:05 +02:00
Robert Haschke
f548b7edcc PipelinePlanner: disable publishing of plan request + computed path 2018-10-20 12:21:18 +02:00
Robert Haschke
36fe4c98be reduce copying of shared ptrs 2018-10-20 12:21:18 +02:00
Robert Haschke
d648a4091e guard use of introspection_ pointer 2018-10-20 02:38:11 +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
e9b16ba7c0 fix destruction order 2018-10-20 02:38:11 +02:00
Robert Haschke
3ad03cf719 generalize Property conversion between C++ and Python
register appropriate converters for boost::any
2018-10-18 10:00:45 +02:00
Robert Haschke
14d10a2d93 replace MessageSignature with simple ros-msg-name string 2018-10-18 10:00:45 +02:00
Robert Haschke
c145b4c5f8 better robustness against already registered boost::python type converters 2018-10-18 10:00:45 +02:00
Robert Haschke
074a3b7f03 RosMsgConverter: do not allow custom message name 2018-10-18 10:00:45 +02:00
Robert Haschke
fdec258b2c ROSMsgConverter -> RosMsgConverter 2018-10-18 10:00:45 +02:00
Robert Haschke
1b267768fa cleanup type conversion 2018-10-18 10:00:45 +02:00
Robert Haschke
3786ce5a15 protect fromPython / toPython 2018-10-17 02:00:14 +02:00
Robert Haschke
5d78b10366 fix compiler warnings 2018-10-17 02:00:14 +02:00
v4hn
1a4f6c0e57 keep RobotModelLoader around
Otherwise the robot_model_ does not remain valid
2018-10-17 01:55:28 +02:00
Robert Haschke
a745f55ab7 fix compiler warnings in release mode 2018-10-17 01:55:28 +02:00
Robert Haschke
5bae196b21 fixes for Bionic
boost::python 1.65 is more picky about exactly returning the placeholder type in __init__ functions.
2018-10-17 01:18:39 +02:00
Robert Haschke
c9e735ded3 fix API to match MoveTo / MoveRelative stages 2018-10-17 01:18:39 +02:00
Robert Haschke
fbbb39592b allow PoseStamped as property 2018-10-17 01:18:39 +02:00
Martin Meier
47232dd92b pass verbose InitStageException from C++ to python
reverts df43ba1d68bb5c628a8e8f13729e7cdda872f1f9
2018-10-17 01:18:39 +02:00
Robert Haschke
effa437a53 Solution.toMsg() 2018-10-17 01:18:39 +02:00
Robert Haschke
14bd867df8 expose MonitoringGenerator's setMonitoringStage() 2018-10-17 01:18:39 +02:00
Robert Haschke
ef1bbaa439 Task::init(): verbose exception output 2018-10-17 01:18:39 +02:00
Robert Haschke
ea4b1e0c21 Properties: exposeTo(), configureInitFrom() 2018-10-17 01:18:39 +02:00
Robert Haschke
c80755348c moved python includes to global include folder too
catkin package expects all includes to be in one global location
2018-10-17 01:18:39 +02:00
Robert Haschke
b36d91cc02 import .core by default 2018-10-17 01:18:39 +02:00
janEbert
3c77fd1325 add reference test for properties 2018-10-17 01:18:36 +02:00
Robert Haschke
4ac0b6e2c4 merge fixes 2018-10-16 23:22:10 +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
940543a063 fixup! allow preemption of Task::plan() 2018-10-16 23:14:58 +02:00
Robert Haschke
b5bc97b3eb Task::execute() 2018-09-25 22:17:42 +02:00
Robert Haschke
7bd9bcf972 allow preemption of Task::plan() 2018-09-25 22:16:45 +02:00
Robert Haschke
e5e291d86f FixCollisions stage 2018-09-25 22:16:45 +02:00
Robert Haschke
a7b74673ce PlannerInterface for joint-space interpolation 2018-09-25 22:16:45 +02:00
Robert Haschke
4860462076 ComputeIK: forward child solution's comment 2018-09-25 16:25:22 +02:00
Robert Haschke
c70db65578 fixup! MoveTo: store goal as any type 2018-09-25 16:25:13 +02:00
Robert Haschke
ca9d50e7d8 fix compiler warnings 2018-09-25 13:30:53 +02:00
Robert Haschke
f2573e9bfd fix include order
Local headers should be preferred over those from underlay.
Consequently use target_include_directories() to properly define include order.
2018-09-25 13:30:53 +02:00
Robert Haschke
4cebd95468 Merge branch master into boost-python 2018-06-03 13:20:02 +02:00
Robert Haschke
d3fdee9095 expose solutions, publish + execute 2018-06-03 13:03:41 +02:00
Robert Haschke
c0a16971f4 remove redundant exposure of smart pointers 2018-06-03 13:03:41 +02:00
Robert Haschke
5e2bff59fc cleanup Property access 2018-06-03 13:03:41 +02:00
Robert Haschke
d5c7bfb07e cleanup 2018-06-03 13:03:41 +02:00
janEbert
e264bddc3e PropertyMap iterator, PropertyMap.update(dict) 2018-06-03 13:03:41 +02:00
janEbert
2345b6c9a6 unit tests for all stages 2018-06-03 13:03:41 +02:00
janEbert
f15cbd7141 overload constructors 2018-06-03 13:03:41 +02:00
janEbert
93c62e833d container wrappers 2018-06-03 13:03:41 +02:00
Robert Haschke
09b9698e7b add ROS unittest 2018-06-03 13:03:41 +02:00
Robert Haschke
56546f190f roscpp_init: provide init_options AnonymousName, NoRosout 2018-06-03 13:03:41 +02:00
janEbert
1f85b00e14 more wrappers, unittest, fixes 2018-06-03 13:03:41 +02:00
Robert Haschke
de9fa8405d register ROS msg types with boost::python's type converters 2018-06-03 13:03:41 +02:00
Robert Haschke
f4ffccdc1f handle std::unique_ptr<Stage>
Class holder needs to be a smart pointer, e.g. std::auto_ptr.
This can be released(), such that ownership can be passed.
Further, derived types need to be declared as implicitly_convertible to base type.
2018-06-03 13:03:41 +02:00
Robert Haschke
47a2a28698 cleanup, unittest for properties 2018-06-03 13:03:41 +02:00
Robert Haschke
ee13295c92 separate .core and .stages modules 2018-06-03 13:03:41 +02:00
Robert Haschke
e615b7c9da local names for python wrapper libs 2018-06-03 13:03:41 +02:00
Robert Haschke
f7ddd43d53 cleanup folder structure 2018-06-03 13:03:41 +02:00
Robert Haschke
135c9c2148 solvers + stages 2018-06-03 13:03:41 +02:00
Robert Haschke
3ef0bd426b Properties 2018-06-03 13:03:41 +02:00
janEbert
226b0b03b4 basic boost::python wrappers 2018-06-03 13:03:41 +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
2e46082521 remove Container::exposePropertiesOfChild() 2018-06-03 11:36:50 +02:00
Robert Haschke
157caac385 generalize SimpleGrasp / GenerateGraspPose
- move "pregrasp", "grasp" property from SimpleGrasp to GenerateGraspPose
- Container::exposePropertiesOfChild: decouple exposure from inheritance
2018-06-03 11:36:50 +02:00
Robert Haschke
544f574166 MoveRelative: store goal as any type 2018-06-03 09:22:06 +02:00
Robert Haschke
00260d62b5 MoveTo: store goal as any type 2018-06-03 09:22:06 +02:00
Robert Haschke
941dee7fc1 exposeTo: const method 2018-06-03 09:22:06 +02:00
Robert Haschke
abc4c5de50 PropertyMap: allow any type 2018-06-03 09:18:37 +02:00
Robert Haschke
a8431ce661 Container::exposePropertiesOfChild: allow skipping of undefined props 2018-06-03 06:46:12 +02:00
Robert Haschke
0dab499533 Stage: generally allow forwarding of interface properties 2018-06-03 06:46:12 +02:00
Robert Haschke
92296e020f SimpleGrasp(GraspGenerator)
allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
2018-06-03 06:46:12 +02:00
Robert Haschke
beffe27987 improve property debugging 2018-06-03 06:42:11 +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
abea2ee82b reuse boost::any's type_index type 2018-06-02 17:46:37 +02:00
Robert Haschke
2e9932cfbc fix: don't report config issues as successful (but empty) solutions 2018-06-02 17:46:28 +02:00
v4hn
381210f43d compatibility with boost 1.54
This is required for ROS indigo on ubuntu 14.04
2018-06-01 15:02:11 +02:00
Michael Görner
5739bf39d9 use correct frame in pick (#52) 2018-06-01 14:55:23 +02:00
v4hn
0091c76208 compute ik: ignore collisions skips early eef check 2018-06-01 11:34:07 +02:00
v4hn
4026661bfe Rewrite and relax approx comparisons
This is more readable.

Adjusting the threshold to 1e-4 is required to allow for tolerances
in potential sampling planner steps in between.
2018-06-01 11:32:29 +02:00
v4hn
bd1edcbde7 add max_solutions param to plan()
For big problems you just don't want *all* solutions
2018-06-01 11:13:44 +02:00
Robert Haschke
ac1ccba883 minor formatting changes (#51) 2018-05-31 18:01:30 +02:00
Robert Haschke
b35aba6e19 validate merged trajectories 2018-05-30 21:23:34 +02:00
Robert Haschke
941e9df737 declare properties "timeout", "marker_ns" for all stages 2018-05-30 21:21:14 +02:00
Robert Haschke
c2dd28abae rework storing of solutions
- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers

- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
  allows for common handling of states of valid and failure solutions

- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*
2018-05-30 21:02:50 +02:00
v4hn
ae6b86c7d7 remove void line
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b correctly reset FixedState 2018-05-30 21:02:03 +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
eb50aaed0e SolutionBase: rename 'name' to 'comment' 2018-05-30 20:25:42 +02:00
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
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
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