Commit Graph

953 Commits

Author SHA1 Message Date
Robert Haschke
889b61529b Fix trailing white space 2021-04-23 23:49:50 +02:00
Robert Haschke
181cc492d4 Fix catkin_lint errors 2021-04-23 23:49:50 +02:00
Robert Haschke
cc5f1ad934 Switch CI to GitHub Actions 2021-04-23 23:49:50 +02:00
Robert Haschke
dc8cd34b86 Simplify tests 2021-04-01 00:21:07 +02:00
v4hn
4e09d78239 Implement pruning inside-to-outside of a container
- Remove public onNewFailure() interface
  Moved to ContainerBasePrivate to reuse logic for serial and parallel containers.
- Add tests
2021-04-01 00:19:15 +02:00
Michael Görner
8d25e794bc
Update README.md
CostTerm API was implemented
2021-03-30 21:21:43 +02:00
v4hn
472a78800d implement bimap for internal_external state map
Get hashing for inverted lookups, but incur
structural overhead.

Whether this is worth it depends on the number of mapped interface states
and the number of pruning/reactivation requests.
2021-03-30 15:19:49 +02:00
Robert Haschke
0e3ec0b6ec fix constness 2021-03-30 15:19:49 +02:00
v4hn
106c138ef5 Implement pruning inside serial container
By inefficient inverse lookup.

Also add disabled test for the inverted inference (failure inside should prune outside)
2021-03-30 15:19:49 +02:00
Michael Görner
36d9d3e8c0
Rework PipelinePlanner creation (#249)
- Moved Task::createPlanner into PipelinePlanner::create
- Handle mutiple planner pipeline configs as introduced in https://github.com/ros-planning/moveit/pull/2127
2021-03-29 12:00:28 +02:00
Robert Haschke
4ee71881ae
Rework Pruning (#221) 2021-03-23 13:04:38 +01:00
Michael Görner
f2958a4a0b
Explicitly instantiate PropagatingEitherWay::send<> templates (#246)
Otherwise compiler was optimizing (inlining) them away.
2021-03-23 11:37:30 +01:00
v4hn
b7f80939ef add more asserts to onNewSolution
Strictly speaking there is no need for the invariant,
but if something violates it a stage computed something it wasn't meant to.
2021-03-22 14:42:23 +01:00
v4hn
3b6c13e26b only run propagators on enabled solutions
resolve simple pruning test
2021-03-22 14:42:23 +01:00
v4hn
3e5e1da429 add (failing) simple pruning test
to validate propagators do not compute disabled solutions.
It's also good to have a simpler test around than 2 connects.
2021-03-22 14:42:23 +01:00
v4hn
9cf3c01b9a pruning tests: restructure tests 2021-03-22 14:42:23 +01:00
v4hn
be1c8292b5 add more (commented-out) debug statements
Also print generator symbol for completeness.
2021-03-22 14:42:23 +01:00
v4hn
e33962364d resolve PruningMultiForward test
Every InterfaceState along the partial solution has to be disabled
for pruning, not just the ends that are currently relevant.
2021-03-22 14:42:23 +01:00
v4hn
f8f885966e add failing pruning test for branching propagator 2021-03-22 14:42:23 +01:00
v4hn
a82b88355e streamline trait parameters
state asked for a reference, but trajectories for a pointer.
2021-03-22 14:42:23 +01:00
v4hn
bca01e8aa7 rename Status values
Start and End are already used for an entirely different concept,
so if anyone ever wants to read this code, we should use new terms instead.

Because the source state is the disabled state that *failed* to extend,
triggering the whole subtree to be disabled, I went for the new terms
DISABLED and DISABLED_FAILED.
2021-03-22 14:42:23 +01:00
Robert Haschke
c0100ff775 Remove debug output 2021-03-22 14:42:23 +01:00
Robert Haschke
d3864596b6 Replace Priority::enabled() with status()
The key to pruning in the Connecting stage was the following:
- Don't remove states during pruning, but only disable them.
  They might become re-enabled due to further input.
- Distinguish START and END sides of a disabled solution tree to break their symmetry.
  The START side from where we started disabling, can be re-enabled by a new partner state in
  Connecting, the END side must not. This was important as, otherwise, the states would simply
  get re-enabled immediately. The END side only gets re-enabled if the START side actually
  connects the whole solution branch.
2021-03-22 14:42:23 +01:00
Robert Haschke
f229743024 Debug evolution of interfaces 2021-03-22 14:42:23 +01:00
Robert Haschke
9466517f72 operator<< for Interface + Priority
Co-authored by v4hn
2021-03-22 14:42:23 +01:00
Robert Haschke
7c6eb1c0f3 Extend unit tests: PruningForward + PruningBackward 2021-03-22 14:42:23 +01:00
Robert Haschke
604a0da1e4 Actually implement pruning and re-enabling of states 2021-03-22 14:42:23 +01:00
Robert Haschke
19484cec64 Restore pruning
If a stage fails to find a solution, this often implies that further planning
on the open end(s) of connected InterfaceStates is not needed anymore.
Thus the InterfaceStates along all connected solution paths will be marked as disabled.
They are not removed from the pending state lists though, because they might get
reactivated by solutions found in future.

To this end, we introduced the method ContainerBase::onNewFailure().
2021-03-22 14:42:23 +01:00
Robert Haschke
6c18e2b482 test comparison of ConnectingPrivate's StatePairs 2021-03-22 14:42:23 +01:00
Robert Haschke
2a09daa42f InterfaceState::Priority::enabled()
To allow pruning, we need to enable and disable InterfaceStates to be considered for further
planning. In the past, we just indicated the disabled status with infinite costs.
However, because we might need to re-enable states (with previous state),
we need to separate these two concepts.
2021-03-22 14:42:23 +01:00
v4hn
f59e5170fb drop useless assert 2021-03-22 14:39:35 +01:00
v4hn
fc5c25670d Fix duplicated layout name
Fixes https://github.com/ros-planning/moveit_task_constructor/issues/227
2021-03-22 14:38:30 +01:00
Robert Haschke
44eaf9975e rviz: catch + display invalid-robot-model exception 2021-03-19 18:22:04 +01:00
Robert Haschke
10f6b7a58e MoveTo/MoveRel: reduce code duplication
... using templated versions for computeForward + computeBackward
as they essentially perform the same operations.
2021-03-19 18:22:04 +01:00
Robert Haschke
dfffd77eee MoveTo/MoveRel: Report errors via solution comments instead of ROS_WARN 2021-03-19 18:22:04 +01:00
Robert Haschke
5de9ce7203 Perform clang-format check via github action from pre-commit.com 2021-03-15 14:29:19 +01:00
Robert Haschke
0b63c590c5 Replace MoveIt! -> MoveIt 2021-03-15 14:29:19 +01:00
v4hn
1f86f73c06 add two demos for cost computation aspects 2021-03-05 21:41:07 +01:00
v4hn
ee2d768012 simplify demo startup launch
There's no need to copy the whole demo.launch from the panda config.
2021-03-05 14:54:13 +01:00
v4hn
3d8faea079 add test to validate correct solution state in computeCost
This is somewhat cumbersome because of the additional internal/external
layer introduced through the container.
But it's still better than leaving this unverified.
2021-03-05 14:38:29 +01:00
v4hn
f4fb8c6f71 fix computeCost interface (again)
Fixes the missing creator pointer introduced in a6a23d3775
2021-03-05 14:38:23 +01:00
v4hn
629d266fbc remove leftover joint counting
Not used anywhere
2021-03-05 14:38:14 +01:00
v4hn
f7a94956c3 output stream formatting for InterfaceState::Priority 2021-03-05 14:38:06 +01:00
Robert Haschke
a6fa45214f Remove return value from Container::insert
adapted Container::add

Logical consequence of removing the ROS_ERROR output in `setParent`
2021-02-24 12:22:38 +01:00
v4hn
4386d0cc60 remove roscpp as an export dependency for the core package
We do use ROS in the background. But there is no need for a public export dependency on it.

This patch also resolves the following catkin_lint issue:

moveit_task_constructor_core: CMakeLists.txt(17): error: package 'roscpp' must be in CATKIN_DEPENDS in catkin_package()
2021-02-24 12:22:38 +01:00
Robert Haschke
685fec6070
demo: switch to moveit_resources_panda_moveit_config (#231) 2021-02-18 11:57:59 +01:00
Robert Haschke
f2d2cf10f0 Fallback: Correctly end iterating children
Fixes #234
2021-02-17 21:17:05 +01:00
Robert Haschke
f99d03386a
Use RobotModelBuilder to simplify tests (#225)
* Simplify RobotModel definition using RobotModelBuilder
* Silent RobotModel errors once in models.cpp
2020-12-30 11:07:57 +01:00
Jafar Abdi
8a913d8bf3
getTaskId(): Replace '-' in hostname with '_' (#223) 2020-12-15 20:39:01 +01:00
Robert Haschke
9f18219993 minor cleanups
* unify usage of pimpl()
* fix StatePair constructors
* improve/add comments
* test_container: reset MOCK_ID for each test to facilitate identification of stages
2020-12-06 23:55:58 +01:00