Commit Graph

64 Commits

Author SHA1 Message Date
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
1a0b9b36ee fix connection creation
Establishing the interface connections, we face a chicken-egg-problem:
To establish a connection, a predecessors/successors pull interface is
assigned to the current's stage push interface.
However, propagating stages (in auto-detection mode) can only create
their pull interfaces if the corresponding, opposite-side push interface
is present already (because that's the mechanism to determine the supported
propagation directions).

Hence, we need to resolve this by performing two sweeps:
- initialization, assuming both propagation directions should be supported,
  thus generating both pull interfaces, i.e. providing the egg
- stripping down the interfaces to the actual context
  This context is provided by two stages pushing from both ends
  into a (potentially long) sequence of propagating stages (tbd).

Contributions of this PR:
- PropagatingEitherWay: explicitly distinguish AUTO from BOTHWAYS interface
  AUTO: auto-derive interface from provided push interfaces
  BOTHWAYS: explicitly require both directions
- SerialContainer: (better, but not yet perfect) validation of connectivity
- ParallelContainer: determine interface from what children offer
2018-02-18 21:23:12 +01:00
Robert Haschke
a4feb705d0 cleanup operator<<(ostream, *)
- basic implementation for StagePrivate
- implementation for Stage calls this
- implementation for ContainerBase recursively calls this
- implementation for Task added
2018-02-18 13:58:09 +01:00
Robert Haschke
2ea463fff4 replace std::cout with ros console 2018-02-16 16:01:05 +01:00
Robert Haschke
acffd39091 SerialContainer: fix priority propagation
- traverse all (also partial) solution paths
- and update priority at both ends
- remove pending state pairs if cost increased to infinity
2018-02-16 16:01:05 +01:00
Robert Haschke
7e66c24822 marker tools: allow vector of LinkModel* 2018-02-13 19:29:12 +01:00
Robert Haschke
4be373592a Merge branches 'cleanup', 'wip-modular-planning', 'wip-containers', 'wip-gui' and 'wip-modify-ps' 2018-02-12 23:54:51 +01:00
Robert Haschke
724f0c3014 modular planning
Separate planning approaches (using MoveIt pipeline or computeCartesianPath) from stages.
This allows to reuse planning in various stages without code duplication.

Reworked stages:
Move -> Connect
Gripper + CartesianPositionMotion -> MoveTo
CartesianPositionMotion -> MoveRelative
2018-02-12 23:43:47 +01:00
Robert Haschke
0d338a7f5f visualize collisions 2018-02-12 23:40:33 +01:00
Robert Haschke
f35a6bc05d FixCollisionObjects stage 2018-02-12 23:40:33 +01:00
Robert Haschke
f006f0f3d6 reduce code bloat using SFINAE template selection 2018-02-12 23:40:33 +01:00
Robert Haschke
381edf2d22 ModifyPlanningScene stage
- attach / detach objects to robot
- enable / disable collision pairs
- works in either direction (FORWARD +  BACKWARD)
2018-02-12 23:40:33 +01:00
Robert Haschke
449ccf55c6 merge WrapperBase + Wrapper into WrapperBase
Wrapper is not restricted to generator-type stage anymore.
2018-02-12 23:39:46 +01:00
Robert Haschke
032a4e23c1 derive WrapperBase from ParallelContainerBase 2018-02-12 23:39:46 +01:00
Robert Haschke
1ab2d596fb ContainerBasePrivate::liftSolution() 2018-02-12 23:39:46 +01:00
Robert Haschke
919be24d16 implement ParallelContainerBase 2018-02-12 23:39:46 +01:00
Robert Haschke
a3a8f1a9d2 improved directional (forward/backward) access to interfaces
- TraverseDirection -> Interface::Direction
- StagePrivate: pullInterface(), pushInterface()
- trajectories<dir>(SolutionBase) -> SolutionBase::trajectories<dir>()
2018-02-12 23:39:46 +01:00
Robert Haschke
73f509c3ba simplify usage of ContainerBasePrivate::copyState() 2018-02-12 23:39:46 +01:00
Robert Haschke
cf71d2f0d2 unify use of buffer interfaces in containers
All containers need to buffer their children's sendBackward/sendForward states.
2018-02-12 23:39:46 +01:00
Robert Haschke
9bdfcc8c23 expose Task::initScene()
... to allow use of local scene
2018-02-12 23:37:19 +01:00
Robert Haschke
e9d0a05f75 default arg in header 2018-02-12 23:37:19 +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
5ff78f653e signal callback function
... to allow for syncing with rviz::Property
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
5c43d700a8 update state priorities in a container-specific fashion
Reorder interface list on priority updates.
This requires the InterfaceState to store a pointer to the owning Interface.
2018-02-12 22:44:18 +01:00
Robert Haschke
facd6438c9 Interface: order states by priority
Priority is (depth of solutions, accumulated cost along trace).
2018-02-12 22:44:18 +01:00
Robert Haschke
d0351698a6 single map internal_to_external
There is no need to distinguish between starts and ends when mapping
states, because start/end states need to be disjoint sets.
2018-02-12 22:44:18 +01:00
Robert Haschke
e6af069139 SerialContainer: traverse solutions w/o stopping stage
Always traverse from current solution to the start/end of a complete
path and only call the callback once for the whole trace.
2018-02-12 22:44:18 +01:00
Robert Haschke
6a62f6be76 default argument for NotifyFunction in Interface constructor 2018-02-12 22:44:18 +01:00
Robert Haschke
244a7d147b sort serial solutions before insertion 2018-02-12 22:36:58 +01:00
Robert Haschke
29577515a0 cost ordering for solutions 2018-02-12 22:36:56 +01:00
Robert Haschke
c84fa4cdd6 cost ordered API 2018-02-12 22:36:12 +01:00
Robert Haschke
1403fc9830 fixed some clang warnings 2018-02-12 22:36:12 +01:00
Robert Haschke
2184450bd6 count all failures for statistics 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
38f7696acf ComputeBase::addTrajectory -> ComputeBasePrivate::addTrajectory
Forbid indirect access to trajectories_.
Only official compute classes have access.
2018-02-12 22:33:39 +01:00
Robert Haschke
5c1cad14df Merge branches 'fixes', 'wip-drag-n-drop', 'wip-ikstage' and 'wip-marker-vis'
resolved conflicts:
core/include/moveit/task_constructor/container.h
core/src/container.cpp
core/src/stages/generate_grasp_pose.cpp
visualization/motion_planning_tasks/src/task_display.cpp
visualization/motion_planning_tasks/src/task_panel_p.h
2018-02-04 21:36:01 +01:00
Robert Haschke
3fd096c8e6 fix IK stage: insert different solutions as different scenes 2018-02-04 09:01:45 +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
Robert Haschke
b6959170db derive WrapperBase from ContainerBase
While ParallelContainers can directly promote their child solutions as
their own, a Wrapper needs to modify those solutions. Hence, Wrappers
should be derived directly from Container.
2018-02-04 09:01:45 +01:00
Robert Haschke
e4ad7a0753 removed Stage::validate()
... only was checking for implies(a, a) which is always true
2018-02-04 09:01:45 +01:00
Robert Haschke
104e52eb48 promise to not modify solutions 2018-02-04 09:01:45 +01:00
Robert Haschke
01d43e3f3b marker_tools 2018-02-04 09:00:54 +01:00
Robert Haschke
0e8dd85ae6 allow stages to access the created SubTrajectory
to add markers, set name, etc.
2018-02-04 09:00:54 +01:00
Robert Haschke
e9363919e8 Merge branch 'wip-properties' 2018-02-04 08:59:35 +01:00
Robert Haschke
3ab899a9a8 cleanup error handling
throw std::logic_error on type errors
throw std::runtime_error on undeclared property
don't expose generic PropertyMap::declare()
2018-02-04 08:56:11 +01:00
Robert Haschke
c9e3be08d0 fix initialization order of properties
First from INTERFACE, second from PARENT.

INTERFACE initialization only makes sense for Propagating stages.
Connecting stages should ensure that interfaces define identical
properties which is not possible with boost::any.
2018-02-04 08:56:11 +01:00
Robert Haschke
4db7e8eb88 definition of PropertyInitializerSource moved to Stage 2018-02-04 08:56:11 +01:00