Robert Haschke
433db67cf9
only attempt to merge if there is something to merge
2018-04-15 11:55:45 +02:00
Robert Haschke
90b0b006eb
more todo
2018-04-15 11:26:00 +02:00
Robert Haschke
6d6f185870
feedback
2018-04-15 11:26:00 +02:00
v4hn
ade42456b8
list of random todos
2018-04-15 11:26:00 +02:00
Robert Haschke
cd88b22469
update trail in both directions:
...
- show new steps if current_state_ advanced
- hide steps if current_state_ reverted
2018-04-15 11:25:01 +02:00
Robert Haschke
534985bdbb
show start / end scene for empty trajectories
2018-04-15 11:25:01 +02:00
Robert Haschke
962fe2a42d
reworked TaskSolution visualization
...
- code simplification
- allow slider interaction at any time
- keep last frame visible if animation finished
- animating_ is true iff animation is running
(previously it was also used to indicate the end of an animation cycle)
2018-04-15 11:25:01 +02:00
Robert Haschke
24e8b95203
TaskSolutionVisualization: solution_to_display_ -> next_solution_to_display_
2018-04-15 11:25:01 +02:00
Robert Haschke
6e08f32ef2
enable ccache
2018-04-15 11:24:44 +02:00
Robert Haschke
c3f42b66f7
travis fix
2018-04-15 11:24:44 +02:00
Robert Haschke
51e1dda6ec
minor improvements: variable names, comments
2018-04-10 01:52:40 +02:00
Robert Haschke
564f3b0514
fix MoveRelative
...
Ignore success of planner_->plan() when min_distance is specified (and >= 0).
In this case, compute the achieved distance myself.
2018-04-10 01:52:40 +02:00
Robert Haschke
525ac10bbf
std::string -> const std::string&
2018-04-10 01:52:40 +02:00
Robert Haschke
f2c0c7bf90
rename enableCollision -> allowCollision
2018-04-10 01:52:40 +02:00
Robert Haschke
fee7352961
renamed demo: plan_pick_trixi -> plan_pick_pr2
2018-04-10 01:52:40 +02:00
Robert Haschke
a044b719ac
removed old stages: Move, Gripper, CartesianPositionMotion
2018-04-10 01:52:40 +02:00
Robert Haschke
b22217deab
fix trajectory merging: initialize from well-defined RobotState
2018-04-10 01:52:40 +02:00
Robert Haschke
c553275276
SolutionSequence::fillMessage: ignore sub solutions with same creator as parent
2018-04-10 01:52:40 +02:00
Robert Haschke
556d9e1a5e
Merge branches 'robot-model', 'task-move-constructor' and 'const-robot-trajectory'
2018-04-09 21:11:19 +02:00
Robert Haschke
2b79f15244
SubTrajectory: promise to not modify encapsulated RobotTrajectory
2018-04-09 21:10:18 +02:00
Robert Haschke
7463621f56
move assignment operator
2018-04-09 21:10:08 +02:00
Robert Haschke
7ebc4b2c7e
Task: move constructor
2018-04-09 21:10:08 +02:00
Robert Haschke
35b35cc17e
enable introspection only if ROS was initialized
2018-04-09 21:09:49 +02:00
Robert Haschke
bd60e6f65d
Task::setRobotModel() / Task::loadRobotModel()
2018-04-09 21:09:49 +02:00
Robert Haschke
70065c98e7
Merge branches 'master' 'generate-pose' and 'connect'
2018-04-09 21:08:45 +02:00
Robert Haschke
21242ea976
publish failures
2018-04-09 21:08:17 +02:00
Robert Haschke
047a3f7db4
report duplicate joints, accept fixed joints as duplicates
2018-04-09 21:08:17 +02:00
Robert Haschke
55e3aae30a
merge trajectories
2018-04-09 21:08:17 +02:00
Robert Haschke
03092e7e45
utility functions to merge multiple RobotTrajectories
2018-04-08 02:36:55 +02:00
Robert Haschke
2c08d9080d
Pick, Place as specializations of PickPlaceBase
2018-04-08 02:36:55 +02:00
Robert Haschke
ce5d7c63f0
SimpleGrasp, SimpleUnGrasp as specializations of SimpleGraspBase
2018-04-08 02:36:55 +02:00
Robert Haschke
97d2eb5c6a
Pick: remove Connect
2018-04-08 02:36:55 +02:00
Robert Haschke
85e88eabd1
Connecting::compatible() to check compatibility of states
2018-04-08 02:36:55 +02:00
Robert Haschke
eee53a0d80
MoveTo: use moving frame markers
2018-04-05 22:54:51 +02:00
v4hn
1424b51f79
expose typed setters in Cartesian solver
2018-04-05 22:53:24 +02:00
Robert Haschke
77442c0eed
Connect: allow multiple groups to be processed in series
2018-04-05 13:51:50 +02:00
Robert Haschke
8811045f89
setCreator() once in StagePrivate::newSolution()
2018-04-05 13:51:50 +02:00
Robert Haschke
9ceecd235f
SerialSolution -> SolutionSequence
2018-04-05 13:51:50 +02:00
Robert Haschke
4d77390d77
validate existence of object frame in init()
2018-04-05 13:50:09 +02:00
Robert Haschke
9e1c3059e1
derive GenerateGraspPose from GeneratePose
2018-04-05 13:50:09 +02:00
Robert Haschke
3640928a76
postpone pose transformation
2018-04-05 13:50:09 +02:00
Robert Haschke
603696f294
add missing reset()
2018-04-05 13:50:09 +02:00
v4hn
76c6ba14fa
add a simple GeneratePose stage
...
ComputeIK is a wrapper, so we can't just give it a pose to compute.
2018-04-05 13:50:09 +02:00
llach
a82a48bb70
fix PropertyMap::exposeTo: use other_name as new name for property ( #40 )
2018-04-05 13:47:23 +02:00
llach
124979e2a8
MoveRelative: adapt msgs to fit class name ( #39 )
2018-04-05 13:46:13 +02:00
Robert Haschke
205beea503
Merge pull request #28 from ros-planning/pr-path-constraints
...
implement path constraints
2018-03-26 09:54:02 +02:00
Robert Haschke
2ca68e6645
actually implement path constraints for CartesianPath planner
...
... validating constraints
2018-03-26 09:50:17 +02:00
v4hn
d7d80c3499
implement path constraints for Move*
2018-03-26 09:50:17 +02:00
v4hn
80ae01dcca
expose timeout property as typed setter
2018-03-26 09:50:17 +02:00
v4hn
8af44cefc3
add path constraints to planner API
...
and use it in the Connect class.
The cartesian planner ignores the constraints for now.
2018-03-26 09:50:17 +02:00