Commit Graph

15 Commits

Author SHA1 Message Date
Robert Haschke
bb06eda33c containers
- allow hierarchical organization of stages (serially for now)
- validate correctness of tree (at composition time, i.e. runtime)
- derive Task from SerialContainer
- fix pimpl_func(), PRIVATE_CLASS declaration in "public" section to allow access in tests
2017-10-04 00:11:22 +02:00
Robert Haschke
fcccbae408 specialised SubTask classes
SubTask cannot be instantiated directly, but only its derived classes
that specify the type of operation:

PropagatingAnyWay
PropagatingForward
PropagatingBackward
Connecting
Generator
2017-09-30 22:10:51 +02:00
Robert Haschke
fd62e46828 use namespace definitions 2017-09-28 20:33:42 -07:00
v4hn
d2d93967ce consistency: Begin -> Beginning 2017-09-12 09:21:31 +02:00
v4hn
491098e0c3 use weak_ptr instead of raw pointer
Using shared_ptr, this is cleaner
2017-09-04 00:52:00 +02:00
v4hn
25fcc39a33 task: flag previously returned trajectories to return them only once
This required to move from RobotTrajectorys to SubTrajectorys in more
interfaces, as well as fewer const-changes to handle the flags.
2017-03-24 12:46:59 +01:00
v4hn
5d9a9c22e4 invert 1:n relationship between InterfaceState and SubTrajectory
Starting with the Move Subtask, a single InterfaceState might have
multiple trajectories associated.

On the other hand, a graph structure of nodes is arbitrary difficult to handle,
debug and even specify. Because all examples considered up to now are
linear, I decided to stay with a linear ordering for now.
This should also allow much cleaner visualizations.
2017-03-06 20:47:56 +01:00
v4hn
a9c9a61710 add stub for pair iteration
This is not too hard, but takes a bit of time to get right,
so I'll add a stub for the moment.
2017-03-06 19:34:11 +01:00
v4hn
07b1a72030 add planning pipeline to task and subtasks
This allows to plan in the subtasks without ROS communication
2017-03-05 13:06:16 +01:00
v4hn
70145aae29 draft implementation of cartesian_position_motion - one way only for the moment 2017-03-04 00:08:52 +01:00
v4hn
30961436f1 subtask: add has* functions to facilitate canCompute 2017-03-02 19:35:31 +01:00
v4hn
c77d9106a6 introduce more interfaces / Gripper forward planning now works 2017-03-01 15:19:30 +01:00
v4hn
039f1e6896 Task now holds a PlanningScene
instead of just a RobotModel.
All generating subtasks need the scene,
so avoid every single one of them asking for it.
2017-02-28 16:47:09 +01:00
v4hn
0e5d39a94d introduce a number of interfaces as loose ends 2017-02-28 15:27:05 +01:00
v4hn
bd67649fd2 first sketch of the graph design
+ skeleton of a first node "current_state"
+ vision of a test application
2017-02-28 11:29:38 +01:00