Robert Haschke
c2dd28abae
rework storing of solutions
...
- solutions_, failures_ as SolutionBaseConstPtrs in StagePrivate
- replace processSolutions() / processFailures() by direct const-access to storage containers
- generic sendForward(), sendBackward(), spawn(), connect() methods in StagePrivate
- reuse StagePrivate's sendForward(), sendBackward(), spawn() in containers
- store created InterfaceStates in StagePrivate::states_
- Interface: ordered<InterfaceState*> (only store pointers)
allows for common handling of states of valid and failure solutions
- remove additional state+solution storages
- containers: internal->external state mapping as InterfaceState* -> InterfaceState*
2018-05-30 21:02:50 +02:00
v4hn
ae6b86c7d7
remove void line
...
?
2018-05-30 21:02:19 +02:00
Robert Haschke
5878e8ab6b
correctly reset FixedState
2018-05-30 21:02:03 +02:00
Robert Haschke
52fdf30433
simplify compute() API
...
- remove bool return value
- always create a solution trajectory, also in case of failures
- success/failure determined from solution.isFailure()
minor adjustments during cherry-pick
2018-05-30 21:01:34 +02:00
Robert Haschke
eb50aaed0e
SolutionBase: rename 'name' to 'comment'
2018-05-30 20:25:42 +02:00
Robert Haschke
84dec07565
MoveTo/MoveRelative: generic IK target frame
...
...instead of simple link name
2018-05-30 20:25:07 +02:00
v4hn
495c80350b
Merge branches 'joint_pose', 'move-relative-joints', 'basic-merger' and 'compute-ik'
2018-05-30 19:35:58 +02:00
v4hn
015b1466f4
MoveRel: handle unknown links with hard failure
2018-05-30 19:09:57 +02:00
v4hn
56c9128d99
MoveTo: cleaner strict handling of invalid properties
2018-05-30 18:53:39 +02:00
v4hn
b8e6e5e2fa
MoveTo: reduce scope of try-catch
2018-05-30 18:44:26 +02:00
v4hn
bbd274da96
MoveTo: simplify getJointStateGoal
2018-05-30 18:42:31 +02:00
Robert Haschke
b7b7a916df
basic merger functionality
2018-05-18 17:44:55 +02:00
Robert Haschke
5e8117720e
ignore failures for further processing
2018-05-18 17:44:43 +02:00
Robert Haschke
abb68da083
forward properties
2018-05-18 17:44:43 +02:00
Robert Haschke
ce10d96c5c
ComputeIK: report collision pairs
2018-05-18 17:44:43 +02:00
Robert Haschke
41e64ed7e1
remove std::map serialization
2018-05-18 17:44:30 +02:00
Robert Haschke
40ca35085a
cleanup
2018-05-18 17:44:30 +02:00
llach
9a7aa4dad7
Pick: added setter for relative joint lift motion
2018-05-18 17:44:30 +02:00
llach
d0c8f7f819
MoveRelative: added relative joint space goals to
2018-05-18 17:44:30 +02:00
llach
0779c255df
added stream serialization for std::map<std::string, T>
2018-05-18 17:44:30 +02:00
Robert Haschke
9e19f2187b
moved implementations of property setters to header
2018-05-18 17:44:17 +02:00
Robert Haschke
17e487be06
cleanup
...
- indentation: space -> tabs
- only consider joints of JMG
2018-05-18 17:44:17 +02:00
llach
2be3ee611b
adapted MoveTo api change. joint_pose -> named_joint_pose
2018-05-18 17:44:17 +02:00
llach
55470062c9
MoveTo: converting named joint poses to robot state msg in init; property names refactoring
2018-05-18 17:44:17 +02:00
llach
97c2312d67
MoveTo: can now take RobotState msg as goal
2018-05-18 17:44:17 +02:00
Robert Haschke
19fa7349d3
Task: only accept containers
2018-05-18 17:42:34 +02:00
Robert Haschke
e3ca832497
Property: silently return empty string when serialization is not supported
2018-05-18 17:42:34 +02:00
Robert Haschke
2106c51c9d
Property: provide a fallback serialize() implementation
...
... in case operator<< is not defined for type T
2018-04-28 22:13:52 +02:00
Robert Haschke
ae3b9126bd
get rid off empty JointState errors
2018-04-27 12:07:27 +02:00
Robert Haschke
ecf8029f75
add timing to merged trajectories
2018-04-27 12:06:59 +02:00
Robert Haschke
872e3cc004
unittest for Priority comparisons
2018-04-27 12:04:55 +02:00
Robert Haschke
8fb47e99e8
update ordering on any change of priority
2018-04-27 12:04:55 +02:00
Robert Haschke
67b6dcb49b
move implementation into cpp file
2018-04-27 12:04:55 +02:00
v4hn
bbb64f2f8c
inf cost states always go last
...
Also update sorted interface when state becomes inf or get's new cost.
2018-04-27 12:04:55 +02:00
Robert Haschke
728c1b40e2
Merge branches 'travis', 'fixes', 'visualization' and 'todos'
2018-04-15 12:01:19 +02:00
Robert Haschke
b8a4653f31
relax equality condition for joint values for inactive groups
2018-04-15 11:55:45 +02:00
Robert Haschke
5c525f8729
consider v4hn's comment
2018-04-15 11:55:45 +02:00
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
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