Commit Graph

691 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
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
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
e815fb41c2 RemoteTaskModel: all props read-only
... including ones registered in PropertyFactory
2019-02-10 06:21:51 +01:00
Robert Haschke
bb61513cb8 libyaml-based, incremental parsing of properties
... ensures display in document order
2019-02-10 06:21:51 +01:00
Robert Haschke
9810e3bb4b wip: understand event-based, incremental parsing with libyaml 2019-02-10 06:21:51 +01:00
Robert Haschke
e71376743c yamp-cpp parsing 2019-02-10 06:21:51 +01:00
Robert Haschke
20e951bf63 PropertyFactory::createDefault()
... creating a read-only rviz::Property from serialized mtc::Property value
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
6b77b15b2f update README 2019-02-07 16:57:51 +01:00
Robert Haschke
4263956079 fix Travis 2019-02-07 16:25:39 +01:00
Robert Haschke
a1f7c5d1c6 improve error msg for mismatching container/child interfaces 2019-02-06 10:29:10 +01:00
Robert Haschke
f9715f0c18 pass PlanningScene + DisplayContext to rviz::Property creation
... to allow properties to display scene-specific lists or create rviz markers
2019-01-18 00:11:17 +01:00
Robert Haschke
780e09145e stage-specific factories for PropertyTreeModel
To allow stages to display their properties in a custom fashion, e.g.
to show the end-effector marker for PoseStamped, we need to be able
to register stage-specific factories.
2019-01-18 00:11:17 +01:00
Robert Haschke
3f3c2f6bf9 Update MTC property on changes of rviz property 2019-01-18 00:11:17 +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
5b8d841094 RemoteTaskModel: show stage properties 2018-11-28 08:16:16 +01:00
Robert Haschke
6d81743a0b comments 2018-11-28 08:16:16 +01:00
Robert Haschke
ae75c3aa7f Eigen::Affine3 -> Eigen::Isometry3 2018-11-28 08:14:44 +01:00
Robert Haschke
5690d68311 fix display of attached objects
similar as in https://github.com/ros-planning/moveit/pull/1202
2018-11-23 11:09:56 +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
Robert Haschke
9dd0384809 Merge origin/master 2018-11-02 11:54:07 +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